JP2023126371A - Electronic apparatus, control method of electronic apparatus, and control program of electronic apparatus - Google Patents

Abstract

To provide an electronic apparatus, a control method of the electronic apparatus, and a control program of the electronic apparatus that can improve the convenience of object detection.SOLUTION: An electronic apparatus includes: a plurality of first transmission antennas arranged in a horizontal direction; a plurality of second transmission antennas arranged in a direction other than the horizontal direction with respect to the horizontal direction in which the first transmission antennas are arranged; and a control unit that sets a value of frequency changes with respect to time of a chirp signal, for each of at least one of frames, parts constituting the frames, and chirp signals included in transmission waves, of the transmission waves transmitted from at least one of the first transmission antennas and the second transmission antennas, and sets a beamforming direction of the transmission waves in the direction of an object detection range measured in the past.SELECTED DRAWING: Figure 2

Description

Cross-reference of related applications

This application claims priority to patent application No. 2018-193317, filed in Japan on October 12, 2018, and patent application No. 2019-53575, filed in Japan on March 20, 2019. , the entire disclosures of these earlier applications are hereby incorporated by reference.

The present disclosure relates to an electronic device, an electronic device control method, and an electronic device control program.

For example, in fields such as automobile-related industries, technology for measuring the distance between one's own vehicle and a predetermined object is considered important. In particular, in recent years, radar (RADAR (Radio Detecting and Ranging)), which measures the distance between objects and other objects by transmitting radio waves such as millimeter waves and receiving reflected waves from objects such as obstacles, has been introduced. Various technologies are being researched. The importance of technology for measuring distances and other distances will continue to grow as technology to assist drivers in driving and technology related to automated driving that automates part or all of driving is expected to increase. is expected.

Furthermore, various proposals have been made regarding techniques for detecting the presence of a predetermined object by receiving a reflected wave of a transmitted radio wave reflected by the object. For example, in Patent Document 1, a target object is irradiated with a transmission signal that has been linearly FM modulated at a specific period, a beat signal is detected based on the difference with the received signal from the target object, and the distance and speed are determined by frequency analysis of this signal. An FM-CW radar device that performs measurement is disclosed. Further, for example, Patent Document 2 discloses a technique that enables the phase of a transmitted wave to be controlled to an arbitrary value with high precision in a transmitter that uses a high frequency signal of about several tens of GHz as a transmitted wave.

Japanese Patent Application Publication No. 11-133144 International Publication No. WO2016/167253

It is desirable to improve the convenience of a technology that detects an object by receiving a reflected wave of a transmitted wave reflected by the object.

An object of the present disclosure is to provide an electronic device, an electronic device control method, and an electronic device control program that can improve the convenience of object detection.

An electronic device according to an embodiment includes:
a plurality of first transmitting antennas arranged in a horizontal direction;
a plurality of second transmitting antennas arranged in a direction other than the horizontal direction with respect to the horizontal direction in which the first transmitting antenna is arranged;
For each frame of a transmission wave transmitted from at least one of the first transmission antenna and the second transmission antenna, a portion constituting the frame, and a chirp signal included in the transmission wave, a control unit that sets a value of frequency change with respect to time of the chirp signal and sets a direction of beamforming of the transmitted wave in the direction of a previously measured object detection range;
Equipped with.

A method for controlling an electronic device according to an embodiment includes:
a plurality of first transmitting antennas arranged in a horizontal direction;
a plurality of second transmitting antennas arranged in a direction other than the horizontal direction with respect to the horizontal direction in which the first transmitting antenna is arranged;
A method for controlling an electronic device comprising:
For each frame of a transmission wave transmitted from at least one of the first transmission antenna and the second transmission antenna, a portion constituting the frame, and a chirp signal included in the transmission wave, setting a value of frequency change with respect to time of the chirp signal;
setting the beamforming direction of the transmitted wave in the direction of an object detection range measured in the past;
including.

A control program for an electronic device according to an embodiment includes:
a plurality of first transmitting antennas arranged in a horizontal direction;
a plurality of second transmitting antennas arranged in a direction other than the horizontal direction with respect to the horizontal direction in which the first transmitting antenna is arranged;
A control program for an electronic device, comprising:
to the computer,
For each frame of a transmission wave transmitted from at least one of the first transmission antenna and the second transmission antenna, a portion constituting the frame, and at least one of a chirp signal included in the transmission wave, setting a value of frequency change with respect to time of the chirp signal;
setting the beamforming direction of the transmitted wave in the direction of an object detection range measured in the past;
Execute.

According to one embodiment, it is possible to provide an electronic device, an electronic device control method, and an electronic device control program that can improve the convenience of object detection.

FIG. 2 is a diagram illustrating how an electronic device is used according to an embodiment. FIG. 1 is a functional block diagram schematically showing the configuration of an electronic device according to an embodiment. FIG. 2 is a diagram illustrating a configuration of a transmission signal according to an embodiment. FIG. 3 is a diagram illustrating the operation of an electronic device according to an embodiment. FIG. 2 is a diagram illustrating an example of the arrangement of transmitting antennas and receiving antennas in an electronic device according to an embodiment. FIG. 7 is a diagram showing another example of the arrangement of transmitting antennas and receiving antennas in an electronic device according to an embodiment. FIG. 3 is a diagram illustrating a distance for detecting an object by an electronic device according to an embodiment. FIG. 6 is a diagram illustrating an example in which an object detection range is set for each frame in an embodiment. FIG. 3 is a diagram illustrating an example of setting an object detection range for each part of a frame in one embodiment. FIG. 6 is a diagram illustrating an example in which an object detection range is set for each chirp signal that constitutes a frame in one embodiment. 3 is a flowchart illustrating the operation of an electronic device according to an embodiment. FIG. 6 is a diagram illustrating an example in which an object detection range is set in a frame in one embodiment. FIG. 3 is a functional block diagram schematically showing the configuration of an electronic device according to another embodiment. FIG. 7 is a diagram illustrating the structure of a frame in another embodiment. FIG. 2 is a conceptual diagram illustrating an example of an object detection range used in an electronic device according to an embodiment. FIG. 2 is a conceptual diagram illustrating an example of an object detection range used in an electronic device according to an embodiment. FIG. 2 is a conceptual diagram illustrating an example of an object detection range used in an electronic device according to an embodiment. FIG. 2 is a conceptual diagram illustrating an example of an object detection range used in an electronic device according to an embodiment.

Hereinafter, one embodiment will be described in detail with reference to the drawings.

The electronic device according to one embodiment is mounted on a vehicle (moving object) such as a car, and can detect a predetermined object existing around the moving object. For this reason, the electronic device according to one embodiment can transmit transmission waves around the mobile body from a transmission antenna installed on the mobile body. Further, the electronic device according to one embodiment can receive a reflected wave obtained by reflecting a transmitted wave from a receiving antenna installed on a moving body. At least one of the transmitting antenna and the receiving antenna may be included in, for example, a radar sensor installed on a moving body.

Hereinafter, as a typical example, a configuration in which an electronic device according to an embodiment is mounted on a vehicle such as a passenger car will be described. However, the electronic device according to the embodiment is not limited to automobiles. The electronic device according to one embodiment may be mounted on various moving objects such as buses, trucks, motorcycles, bicycles, ships, aircraft, ambulances, fire engines, agricultural equipment such as helicopters and tractors, and drones. Further, the electronic device according to the embodiment is not necessarily mounted on a moving body that moves under its own power. For example, the mobile body on which the electronic device according to one embodiment is mounted may be a trailer portion towed by a tractor. The electronic device according to one embodiment can measure the distance between the sensor and the object in a situation where at least one of the sensor and the predetermined object can move. Further, the electronic device according to one embodiment can measure the distance between the sensor and the object even if both the sensor and the object are stationary.

First, an example of object detection by an electronic device according to an embodiment will be described.

FIG. 1 is a diagram illustrating how an electronic device is used according to an embodiment. FIG. 1 shows an example in which a sensor including a transmitting antenna and a receiving antenna according to an embodiment is installed on a moving body.

A sensor 5 including a transmitting antenna and a receiving antenna according to one embodiment is installed in the mobile body 100 shown in FIG. Furthermore, it is assumed that the mobile body 100 shown in FIG. 1 is equipped with (for example, built-in) the electronic device 1 according to one embodiment. The specific configuration of the electronic device 1 will be described later. The sensor 5 may include, for example, at least one of a transmitting antenna and a receiving antenna. Further, the sensor 5 may include at least one of other functional units, such as at least a part of the control unit 10 (FIG. 2) included in the electronic device 1, as appropriate. The mobile object 100 shown in FIG. 1 may be an automobile vehicle such as a passenger car, but may be any type of mobile object. In FIG. 1, a moving object 100 may be moving (running or slowing down) in the Y-axis positive direction (progressing direction) shown in the figure, or may be moving in another direction, or may be moving in another direction. You can stand still without moving.

As shown in FIG. 1, a sensor 5 including a transmitting antenna is installed in the mobile body 100. In the example shown in FIG. 1, only one sensor 5 including a transmitting antenna and a receiving antenna is installed in front of the moving body 100. Here, the position where the sensor 5 is installed on the moving body 100 is not limited to the position shown in FIG. 1, and may be set at another position as appropriate. For example, the sensor 5 as shown in FIG. 1 may be installed on the left side, right side, and/or rear of the moving body 100. Further, the number of such sensors 5 may be one or more, depending on various conditions (or requirements) such as the measurement range and/or accuracy of the moving body 100. The sensor 5 may be installed inside the moving body 100. The interior may be, for example, the space inside the bumper, the space inside the headlights, the space in the driving space, etc.

The sensor 5 transmits electromagnetic waves as transmission waves from a transmission antenna. For example, when a predetermined object (for example, the object 200 shown in FIG. 1) exists around the moving body 100, at least a portion of the transmission wave transmitted from the sensor 5 is reflected by the object and becomes a reflected wave. Then, by receiving such a reflected wave by the receiving antenna of the sensor 5, for example, the electronic device 1 mounted on the moving body 100 can detect the object.

The sensor 5 including the transmitting antenna may typically be a RADAR (Radio Detecting and Ranging) sensor that transmits and receives radio waves. However, the sensor 5 is not limited to a radar sensor. The sensor 5 according to one embodiment may be a sensor based on, for example, LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) technology using light waves. Sensors such as these can be configured to include, for example, a patch antenna. Since technologies such as RADAR and LIDAR are already known, detailed descriptions may be simplified or omitted as appropriate.

The electronic device 1 mounted on the mobile body 100 shown in FIG. 1 receives from the receiving antenna a reflected wave of a transmission wave transmitted from the transmitting antenna of the sensor 5. In this way, the electronic device 1 can detect the predetermined object 200 that exists within a predetermined distance from the moving body 100. For example, as shown in FIG. 1, the electronic device 1 can measure the distance L between a mobile object 100, which is the own vehicle, and a predetermined object 200. Furthermore, the electronic device 1 can also measure the relative speed between the mobile body 100, which is the own vehicle, and the predetermined object 200. Furthermore, the electronic device 1 can also measure the direction (angle of arrival θ) in which the reflected wave from the predetermined object 200 arrives at the mobile body 100, which is the own vehicle.

Here, the object 200 is, for example, at least one of an oncoming vehicle running in a lane adjacent to the moving body 100, a car running parallel to the moving body 100, a car before and behind the moving body 100 running in the same lane, etc. good. The object 200 is any object that exists around the moving object 100, such as a motorcycle, bicycle, stroller, pedestrian, guardrail, median strip, road sign, step on a sidewalk, wall, manhole, slope, wall, or obstacle. It can be used as an object. Furthermore, the object 200 may be moving or may be stationary. For example, the object 200 may be a car parked or stopped around the moving body 100. In addition, the objects 200 include not only those on the roadway, but also sidewalks, farms, farmland, parking lots, vacant lots, spaces on roads, inside stores, crosswalks, on water, in the air, in gutters, rivers, and in other moving bodies. It may be located at an appropriate location, such as inside or outside a building or other structure. In the present disclosure, the objects 200 detected by the sensor 5 include not only inanimate objects but also living things such as humans, dogs, cats, horses, and other animals. The objects 200 detected by the sensor 5 of the present disclosure include targets including people, objects, animals, etc. that are detected by radar technology.

In FIG. 1, the ratio between the size of the sensor 5 and the size of the moving body 100 does not necessarily represent the actual ratio. Further, in FIG. 1, the sensor 5 is shown installed outside the moving body 100. However, in one embodiment, the sensor 5 may be installed at various positions on the mobile body 100. For example, in one embodiment, the sensor 5 may be installed inside the bumper of the moving body 100 so that it does not appear on the exterior of the moving body 100.

Hereinafter, as a typical example, the transmitting antenna of the sensor 5 will be described as one that transmits radio waves in a frequency band such as millimeter waves (30 GHz or higher) or sub-millimeter waves (for example, around 20 GHz to 30 GHz). For example, the transmitting antenna of the sensor 5 may transmit radio waves having a frequency bandwidth of 4 GHz, such as 77 GHz to 81 GHz. The transmitting antenna of the sensor 5 may transmit electromagnetic waves in a frequency band other than millimeter waves (30 GHz or higher) or sub-millimeter waves (for example, around 20 GHz to 30 GHz).

FIG. 2 is a functional block diagram schematically showing a configuration example of the electronic device 1 according to an embodiment. An example of the configuration of the electronic device 1 according to one embodiment will be described below.

When measuring distance or the like using a millimeter wave radar, a frequency modulated continuous wave radar (hereinafter referred to as FMCW radar) is often used. The FMCW radar generates a transmission signal by sweeping the frequency of radio waves to be transmitted. Therefore, for example, in a millimeter wave type FMCW radar that uses radio waves in the 79 GHz frequency band, the frequency of the radio waves used has a frequency bandwidth of 4 GHz, such as 77 GHz to 81 GHz. Radar in the 79 GHz frequency band is characterized by a wider usable frequency bandwidth than other millimeter wave/sub-millimeter wave radars in the 24 GHz, 60 GHz, and 76 GHz frequency bands, for example. Such an embodiment will be described below. The FMCW radar method used in the present disclosure may include an FCM method (Fast-Chirp Modulation) that transmits a chirp signal at a shorter cycle than usual. The signal generated by the signal generation unit 21 is not limited to the FMCW signal. The signal generated by the signal generation unit 21 may be a signal of various systems other than the FMCW system. The transmission signal string stored in the storage unit 40 may be different depending on these various methods. For example, in the case of the FMCW radar signal described above, a signal whose frequency increases and a signal whose frequency decreases for each time sample may be used. Since known techniques can be appropriately applied to the various methods described above, a more detailed explanation will be omitted.

As shown in FIG. 2, the electronic device 1 according to one embodiment includes a sensor 5 and an ECU (Electronic Control Unit) 50. ECU 50 controls various operations of mobile body 100. The ECU 50 may include at least one ECU. The electronic device 1 according to one embodiment includes a control section 10. Further, the electronic device 1 according to one embodiment may appropriately include other functional units such as at least one of the transmitter 20, the receivers 30A to 30D, and the storage unit 40. As shown in FIG. 2, the electronic device 1 may include a plurality of receiving sections, such as receiving sections 30A to 30D. Hereinafter, when the receiving section 30A, the receiving section 30B, the receiving section 30C, and the receiving section 30D are not distinguished from each other, they will simply be referred to as "the receiving section 30."

The control unit 10 may include a distance FFT processing unit 11 , a velocity FFT processing unit 12 , an angle of arrival estimation unit 13 , an object detection unit 14 , a detection range determination unit 15 , and a parameter setting unit 16 . These functional units included in the control unit 10 will be further described later.

As shown in FIG. 2, the transmitter 20 may include a signal generator 21, a synthesizer 22, phase controllers 23A and 23B, amplifiers 24A and 24B, and transmit antennas 25A and 25B. Hereinafter, when the phase control section 23A and the phase control section 23B are not distinguished, they will simply be referred to as "phase control section 23." Further, hereinafter, when the amplifier 24A and the amplifier 24B are not distinguished from each other, they will simply be referred to as "amplifier 24." Further, hereinafter, when the transmitting antenna 25A and the transmitting antenna 25B are not distinguished, they will simply be referred to as "transmitting antenna 25."

As shown in FIG. 2, the receiving section 30 may include corresponding receiving antennas 31A to 31D. Hereinafter, when the receiving antenna 31A, the receiving antenna 31B, the receiving antenna 31C, and the receiving antenna 31D are not distinguished from each other, they will simply be referred to as "receiving antenna 31." Further, each of the plurality of reception sections 30 may include an LNA 32, a mixer 33, an IF section 34, and an AD conversion section 35, as shown in FIG. The receiving units 30A to 30D may each have a similar configuration. In FIG. 2, the configuration of only the receiving section 30A is schematically shown as a representative example.

The sensor 5 described above may include, for example, a transmitting antenna 25 and a receiving antenna 31. Further, the sensor 5 may include at least one of other functional units such as the control unit 10 as appropriate.

The control unit 10 included in the electronic device 1 according to one embodiment can control the operation of the electronic device 1 as a whole, as well as control each functional section that constitutes the electronic device 1. Control unit 10 may include at least one processor, such as a CPU (Central Processing Unit), to provide control and processing capabilities to perform various functions. The control unit 10 may be implemented by a single processor, several processors, or individual processors. A processor may be implemented as a single integrated circuit. An integrated circuit is also called an IC (Integrated Circuit). A processor may be implemented as a plurality of communicatively connected integrated and discrete circuits. The processor may be implemented based on various other known technologies. In one embodiment, the control unit 10 may be configured as, for example, a CPU and a program executed by the CPU. The control unit 10 may include memory necessary for the operation of the control unit 10 as appropriate.

The storage unit 40 may store programs executed by the control unit 10, results of processes executed by the control unit 10, and the like. Furthermore, the storage unit 40 may function as a work memory for the control unit 10. The storage unit 40 can be configured by, for example, a semiconductor memory or a magnetic disk, but is not limited thereto, and can be any storage device. Further, for example, the storage unit 40 may be a storage medium such as a memory card inserted into the electronic device 1 according to the present embodiment. Further, the storage unit 40 may be an internal memory of the CPU used as the control unit 10, as described above.

In one embodiment, the storage unit 40 may store various parameters for setting a range in which an object is detected by the transmission wave T transmitted from the transmission antenna 25 and the reflected wave R received from the reception antenna 31. Such parameters will be described further below. In the present disclosure, the range for detecting an object includes at least one of a distance range for detecting an object and an angular range for detecting an object. In the present disclosure, the angular range for detecting objects may include a horizontal angular range, a vertical angular range, and any other angular range with respect to the ground.

In the electronic device 1 according to one embodiment, the control unit 10 can control at least one of the transmitting unit 20 and the receiving unit 30. In this case, the control unit 10 may control at least one of the transmitting unit 20 and the receiving unit 30 based on various information stored in the storage unit 40. Furthermore, in the electronic device 1 according to one embodiment, the control unit 10 may instruct the signal generation unit 21 to generate a signal, or may control the signal generation unit 21 to generate a signal.

The signal generation unit 21 generates a signal (transmission signal) to be transmitted as a transmission wave T from the transmission antenna 25 under the control of the control unit 10. When generating the transmission signal, the signal generation section 21 may allocate the frequency of the transmission signal based on control by the control section 10, for example. Specifically, the signal generation section 21 may allocate the frequency of the transmission signal according to the parameters set by the parameter setting section 16. For example, the signal generation unit 21 receives frequency information from the control unit 10 (parameter setting unit 16) and generates a signal of a predetermined frequency in a frequency band such as 77 to 81 GHz. The signal generation section 21 may be configured to include a functional section such as a voltage controlled oscillator (VCO), for example.

The signal generation unit 21 may be configured as hardware having the relevant function, may be configured with a microcomputer, for example, or may be configured as a processor such as a CPU and a program executed by the processor. Good too. Each functional unit described below may be configured as hardware having the relevant function, or if possible, may be configured with a microcomputer, for example, or executed by a processor such as a CPU and the relevant processor. It may also be configured as a program, etc.

In the electronic device 1 according to one embodiment, the signal generation unit 21 may generate a transmission signal (transmission chirp signal) such as a chirp signal, for example. In particular, the signal generation unit 21 may generate a signal (linear chirp signal) whose frequency changes periodically and linearly. For example, the signal generation unit 21 may generate a chirp signal whose frequency increases periodically and linearly from 77 GHz to 81 GHz over time. For example, the signal generation unit 21 may generate a chirp signal whose frequency increases periodically and linearly in a range from 77 GHz to 81 GHz over time. Further, for example, the signal generation unit 21 may generate a signal whose frequency periodically repeats a linear increase (up chirp) and decrease (down chirp) from 77 GHz to 81 GHz over time. The signal generated by the signal generation section 21 may be set in advance in the control section 10, for example. Further, the signal generated by the signal generation section 21 may be stored in advance in the storage section 40, for example. Since chirp signals used in technical fields such as radar are well known, a more detailed description will be simplified or omitted where appropriate. The signal generated by the signal generation section 21 is supplied to the synthesizer 22.

FIG. 3 is a diagram illustrating an example of a chirp signal generated by the signal generation unit 21.

In FIG. 3, the horizontal axis represents elapsed time, and the vertical axis represents frequency. In the example shown in FIG. 3, the signal generation unit 21 generates a linear chirp signal whose frequency changes periodically and linearly. In FIG. 3, each chirp signal is shown as c1, c2, . . . , c8. As shown in FIG. 3, the frequency of each chirp signal increases linearly over time.

In the example shown in FIG. 3, one subframe includes eight chirp signals such as c1, c2, . . . , c8. That is, subframe 1 and subframe 2 shown in FIG. 3 each include eight chirp signals such as c1, c2, . . . , c8. Further, in the example shown in FIG. 3, 16 subframes such as subframe 1 to subframe 16 are included as one frame. That is, frames 1 and 2 shown in FIG. 3 each include 16 subframes. Further, as shown in FIG. 3, a frame interval of a predetermined length may be included between frames. One frame shown in FIG. 3 may have a length of, for example, about 30 to 50 milliseconds. Here, in each embodiment of the present disclosure, a frame is a unit in which a processing unit such as the ECU 50 executes processing. Each signal included in one frame may include information such as the position, speed, and angle of at least one detection target.

In FIG. 3, frames 2 and subsequent frames may have a similar configuration. Further, in FIG. 3, frames 3 and subsequent frames may have a similar configuration. In FIG. 3, frames 2 and subsequent frames may have the same or different configurations as frame 1. In the electronic device 1 according to one embodiment, the signal generation unit 21 may generate the transmission signal as an arbitrary number of frames. Further, in FIG. 3, some chirp signals are omitted. In this way, the relationship between the time and frequency of the transmission signal generated by the signal generation section 21 may be stored in the storage section 40, for example.

In this way, the electronic device 1 according to one embodiment may transmit a transmission signal composed of subframes including a plurality of chirp signals. Further, the electronic device 1 according to one embodiment may transmit a transmission signal composed of a frame including a predetermined number of subframes.

Hereinafter, the electronic device 1 will be described assuming that it transmits a transmission signal having a frame structure as shown in FIG. 3. However, the frame structure shown in FIG. 3 is just an example, and the number of chirp signals included in one subframe is not limited to eight, for example. In one embodiment, the signal generation unit 21 may generate subframes including an arbitrary number (for example, an arbitrary plurality) of chirp signals. Further, the subframe structure shown in FIG. 3 is also an example, and the number of subframes included in one frame is not limited to 16, for example. In one embodiment, the signal generation unit 21 may generate a frame including an arbitrary number (for example, an arbitrary plurality) of subframes.

Returning to FIG. 2, the synthesizer 22 increases the frequency of the signal generated by the signal generation unit 21 to a frequency in a predetermined frequency band. The synthesizer 22 may increase the frequency of the signal generated by the signal generation unit 21 to the frequency selected as the frequency of the transmission wave T transmitted from the transmission antenna 25. The frequency selected as the frequency of the transmission wave T transmitted from the transmission antenna 25 may be set by the control unit 10, for example. For example, the frequency selected as the frequency of the transmission wave T transmitted from the transmission antenna 25 may be the frequency selected by the parameter setting unit 16. Further, the frequency selected as the frequency of the transmission wave T transmitted from the transmission antenna 25 may be stored in the storage unit 40, for example. The signal whose frequency has been increased by the synthesizer 22 is supplied to the phase control section 23 and the mixer 33. When there are a plurality of phase control sections 23, the signal whose frequency has been increased by the synthesizer 22 may be supplied to each of the plurality of phase control sections 23. Further, when there are a plurality of receiving sections 30, the signal whose frequency has been increased by the synthesizer 22 may be supplied to each mixer 33 in the plurality of receiving sections 30.

The phase control section 23 controls the phase of the transmission signal supplied from the synthesizer 22. Specifically, the phase control unit 23 may adjust the phase of the transmission signal by appropriately advancing or delaying the phase of the signal supplied from the synthesizer 22 based on the control by the control unit 10, for example. In this case, the phase control unit 23 may adjust the phase of each transmission signal based on the path difference between each transmission wave T transmitted from the plurality of transmission antennas 25. By appropriately adjusting the phase of each transmission signal by the phase control unit 23, the transmission waves T transmitted from the plurality of transmission antennas 25 strengthen each other in a predetermined direction to form a beam (beam forming). In this case, the correlation between the direction of beamforming and the amount of phase to be controlled of the transmission signals transmitted by each of the plurality of transmission antennas 25 may be stored in the storage unit 40, for example. The transmission signal whose phase has been controlled by the phase control section 23 is supplied to the amplifier 24. Here, beamforming includes concentrating transmission power in a predetermined direction.

The amplifier 24 amplifies the power of the transmission signal supplied from the phase control section 23 based on control by the control section 10, for example. When the sensor 5 includes a plurality of transmitting antennas 25, the plurality of amplifiers 24 control the power (electric power) of the transmitting signal supplied from each corresponding one of the plurality of phase control sections 23 under the control of the control section 10, for example. It may be amplified based on each. Since the technique itself for amplifying the power of a transmission signal is already known, a more detailed explanation will be omitted. Amplifier 24 is connected to transmitting antenna 25 .

The transmission antenna 25 outputs (transmits) the transmission signal amplified by the amplifier 24 as a transmission wave T. When the sensor 5 includes a plurality of transmitting antennas 25, the plurality of transmitting antennas 25 may each output (transmit) a transmitting signal amplified by a corresponding one of the plurality of amplifiers 24 as a transmitting wave T. Since the transmitting antenna 25 can be configured similarly to transmitting antennas used in known radar technology, a more detailed description will be omitted.

In this way, the electronic device 1 according to one embodiment includes the transmitting antenna 25 and can transmit a transmitting signal (for example, a transmitting chirp signal) as a transmitting wave T from the transmitting antenna 25. Here, at least one of the functional units constituting the electronic device 1 may be housed in one housing. Further, in this case, the one casing may have a structure that cannot be easily opened. For example, it is preferable that the transmitting antenna 25, the receiving antenna 31, and the amplifier 24 are housed in one casing, and that the casing has a structure that cannot be easily opened. Furthermore, here, when the sensor 5 is installed in a moving object 100 such as a car, the transmitting antenna 25 transmits the transmission wave T to the outside of the moving object 100 via a cover member such as a radar cover. It's okay. In this case, the radar cover may be made of a material that allows electromagnetic waves to pass through, such as synthetic resin or rubber. This radar cover may be used as a housing for the sensor 5, for example. By covering the transmitting antenna 25 with a member such as a radar cover, it is possible to reduce the risk of the transmitting antenna 25 being damaged or malfunctioning due to contact with the outside. The radar cover and housing may also be referred to as a radome.

The electronic device 1 shown in FIG. 2 shows an example including two transmitting antennas 25. However, in one embodiment, the electronic device 1 may include any number of transmitting antennas 25. On the other hand, in one embodiment, the electronic device 1 may include a plurality of transmitting antennas 25 when transmitting waves T transmitted from the transmitting antennas 25 form a beam in a predetermined direction. In one embodiment, the electronic device 1 may include any plurality of transmitting antennas 25. In this case, the electronic device 1 may also include a plurality of phase control units 23 and a plurality of amplifiers 24 in correspondence with the plurality of transmitting antennas 25. The plurality of phase control units 23 may each control the phases of the plurality of transmission waves supplied from the synthesizer 22 and transmitted from the plurality of transmission antennas 25. Further, the plurality of amplifiers 24 may each amplify the power of the plurality of transmission signals transmitted from the plurality of transmission antennas 25. Further, in this case, the sensor 5 may be configured to include a plurality of transmitting antennas. In this way, when the electronic device 1 shown in FIG. 2 includes a plurality of transmitting antennas 25, it is configured to include a plurality of functional units each necessary for transmitting the transmission waves T from the plurality of transmitting antennas 25. good.

The receiving antenna 31 receives the reflected wave R. The reflected wave R is the transmitted wave T reflected by a predetermined object 200. The receiving antenna 31 may include a plurality of antennas, for example, receiving antennas 31A to 31D. The receiving antenna 31 can be configured similarly to receiving antennas used in known radar technology, so a more detailed description will be omitted. Receiving antenna 31 is connected to LNA 32. A received signal based on the reflected wave R received by the receiving antenna 31 is supplied to the LNA 32.

The electronic device 1 according to one embodiment receives a reflected wave R, which is a transmission wave T transmitted as a transmission signal (transmission chirp signal) such as a chirp signal from a plurality of reception antennas 31 and reflected by a predetermined object 200. can be received. In this way, when transmitting a transmission chirp signal as a transmission wave T, a reception signal based on a received reflected wave R is referred to as a reception chirp signal. That is, the electronic device 1 receives a received signal (for example, a received chirp signal) as a reflected wave R from the receiving antenna 31. Here, when the sensor 5 is installed on a moving object 100 such as a car, the receiving antenna 31 may receive reflected waves R from outside the moving object 100 via a cover member such as a radar cover. good. In this case, the radar cover may be made of a material that allows electromagnetic waves to pass through, such as synthetic resin or rubber. This radar cover may be used as a housing for the sensor 5, for example. By covering the receiving antenna 31 with a member such as a radar cover, it is possible to reduce the risk that the receiving antenna 31 will be damaged or malfunction due to contact with the outside. The radar cover and housing may also be referred to as a radome.

Further, when the receiving antenna 31 is installed near the transmitting antenna 25, these antennas may be collectively included in one sensor 5. That is, one sensor 5 may include, for example, at least one transmitting antenna 25 and at least one receiving antenna 31. For example, one sensor 5 may include multiple transmitting antennas 25 and multiple receiving antennas 31. In such a case, one radar sensor may be covered with a cover member such as one radar cover, for example.

The LNA 32 amplifies the received signal based on the reflected wave R received by the receiving antenna 31 with low noise. The LNA 32 may be a low noise amplifier, and amplifies the received signal supplied from the receiving antenna 31 with low noise. The received signal amplified by the LNA 32 is supplied to a mixer 33.

The mixer 33 generates a beat signal by mixing (multiplying) the RF frequency reception signal supplied from the LNA 32 with the transmission signal supplied from the synthesizer 22. The beat signal mixed by the mixer 33 is supplied to the IF section 34.

The IF section 34 performs frequency conversion on the beat signal supplied from the mixer 33 to lower the frequency of the beat signal to an intermediate frequency (IF (Intermediate Frequency) frequency). The beat signal whose frequency has been lowered by the IF section 34 is supplied to the AD conversion section 35.

The AD conversion section 35 digitizes the analog beat signal supplied from the IF section 34. The AD converter 35 may be configured with any analog-to-digital converter (ADC). The beat signal digitized by the AD conversion section 35 is supplied to the distance FFT processing section 11 of the control section 10. When there are a plurality of receiving sections 30, each beat signal digitized by the plurality of AD conversion sections 35 may be supplied to the distance FFT processing section 11.

The distance FFT processing unit 11 estimates the distance between the moving object 100 carrying the electronic device 1 and the object 200 based on the beat signal supplied from the AD conversion unit 35. The distance FFT processing unit 11 may include a processing unit that performs fast Fourier transform, for example. In this case, the distance FFT processing unit 11 may be configured with any circuit or chip that performs Fast Fourier Transform (FFT) processing.

The distance FFT processing section 11 performs FFT processing on the beat signal digitized by the AD conversion section 35 (hereinafter, appropriately referred to as "distance FFT processing"). For example, the distance FFT processing section 11 may perform FFT processing on the complex signal supplied from the AD conversion section 35. The beat signal digitized by the AD converter 35 can be expressed as a time change in signal strength (power). By performing FFT processing on such a beat signal, the distance FFT processing unit 11 can express it as signal strength (power) corresponding to each frequency. If the peak in the result obtained by the distance FFT processing is equal to or greater than a predetermined threshold, the distance FFT processing unit 11 may determine that the predetermined object 200 is located at a distance corresponding to the peak. For example, in constant false alarm rate (CFAR) detection processing, when a peak value greater than a threshold is detected from the average power or amplitude of a disturbance signal, an object that reflects the transmitted wave (reflecting object) There are known methods to determine whether it exists.

In this way, the electronic device 1 according to one embodiment detects the object 200 that reflects the transmitted wave T based on the transmitted signal transmitted as the transmitted wave T and the received signal received as the reflected wave R. be able to.

The distance FFT processing unit 11 can estimate the distance to a predetermined object based on one chirp signal (for example, c1 shown in FIG. 3). That is, the electronic device 1 can measure (estimate) the distance L shown in FIG. 1 by performing distance FFT processing. Since the technique itself for measuring (estimating) the distance to a predetermined object by performing FFT processing on the beat signal is well known, a more detailed explanation will be simplified or omitted as appropriate. The results of the distance FFT processing performed by the distance FFT processing section 11 (for example, distance information) may be supplied to the speed FFT processing section 12 . Further, the result of the distance FFT processing performed by the distance FFT processing section 11 may also be supplied to the object detection section 14 .

The speed FFT processing unit 12 estimates the relative speed between the moving body 100 carrying the electronic device 1 and the object 200 based on the beat signal subjected to the distance FFT processing by the distance FFT processing unit 11. The velocity FFT processing unit 12 may include, for example, a processing unit that performs fast Fourier transform. In this case, the velocity FFT processing section 12 may be configured with any circuit or chip that performs Fast Fourier Transform (FFT) processing.

The speed FFT processing section 12 further performs FFT processing on the beat signal that has been subjected to the distance FFT processing by the distance FFT processing section 11 (hereinafter, appropriately referred to as "velocity FFT processing"). For example, the velocity FFT processing section 12 may perform FFT processing on the complex signal supplied from the distance FFT processing section 11. The velocity FFT processing unit 12 can estimate the relative velocity with respect to a predetermined object based on a subframe of the chirp signal (for example, subframe 1 shown in FIG. 3). By performing distance FFT processing on the beat signal as described above, a plurality of vectors can be generated. By calculating the phase of the peak in the results of performing velocity FFT processing on these plurality of vectors, the relative velocity with respect to a predetermined object can be estimated. That is, the electronic device 1 can measure (estimate) the relative speed between the moving body 100 and the predetermined object 200 shown in FIG. 1 by performing the speed FFT process. The technique itself for measuring (estimated) the relative velocity with a predetermined object by performing velocity FFT processing on the results of distance FFT processing is well known, so a more detailed explanation will be simplified or omitted as appropriate. do. The result of the velocity FFT processing performed by the velocity FFT processing unit 12 (for example, velocity information) may be supplied to the arrival angle estimating unit 13. Further, the result of the speed FFT processing performed by the speed FFT processing section 12 may also be supplied to the object detection section 14 .

The angle of arrival estimation unit 13 estimates the direction in which the reflected wave R arrives from the predetermined object 200 based on the result of the velocity FFT processing performed by the velocity FFT processing unit 12. By receiving the reflected waves R from the plurality of reception antennas 31, the electronic device 1 can estimate the direction in which the reflected waves R arrive. For example, it is assumed that the plurality of receiving antennas 31 are arranged at predetermined intervals. In this case, a transmission wave T transmitted from the transmission antenna 25 is reflected by a predetermined object 200 and becomes a reflected wave R, and each of the plurality of reception antennas 31 arranged at a predetermined interval receives the reflected wave R. Then, the arrival angle estimation unit 13 estimates the direction in which the reflected wave R arrives at the receiving antenna 31 based on the phase of the reflected wave R received by each of the plurality of receiving antennas 31 and the path difference of each reflected wave R. can do. That is, the electronic device 1 can measure (estimate) the arrival angle θ shown in FIG. 1 based on the result of the speed FFT process.

Various techniques have been proposed for estimating the direction in which the reflected wave R arrives based on the results of velocity FFT processing. For example, known direction-of-arrival estimation algorithms include MUSIC (MUltiple SIgnal Classification) and ESPRIT (Estimation of Signal Parameters via Rotational Invariance Technique). Therefore, more detailed descriptions of well-known techniques will be simplified or omitted where appropriate. Information on the angle of arrival θ (angle information) estimated by the angle of arrival estimation unit 13 may be supplied to the object detection unit 14.

The object detection unit 14 detects objects existing in the range where the transmission wave T is transmitted based on information supplied from at least one of the distance FFT processing unit 11, the velocity FFT processing unit 12, and the angle of arrival estimation unit 13. To detect. The object detection unit 14 may perform object detection by performing, for example, clustering processing based on the supplied distance information, speed information, and angle information. As an algorithm used when clustering data, for example, DBSCAN (Density-based spatial clustering of applications with noise) is known. In the clustering process, for example, the average power of points forming the detected object may be calculated. The distance information, speed information, angle information, and power information of the object detected by the object detection section 14 may be supplied to the detection range determination section 15 . Furthermore, the distance information, speed information, angle information, and power information of the object detected by the object detection unit 14 may be supplied to the ECU 50. In this case, if the mobile object 100 is a car, communication may be performed using a communication interface such as a CAN (Controller Area Network).

The detection range determining unit 15 determines a range (hereinafter also referred to as "object detection range") in which an object that reflects the transmitted wave T is detected using the transmitted signal and the received signal. Here, the detection range determination unit 15 may determine a plurality of object detection ranges based on, for example, an operation by a driver of the mobile object 100 on which the electronic device 1 is mounted. For example, when the parking assistance button is operated by the driver of the mobile object 100, the detection range determination unit 15 may determine a plurality of object detection ranges suitable for parking assistance. Furthermore, the detection range determination unit 15 may determine a plurality of object detection ranges based on instructions from the ECU 50, for example. For example, when the ECU 50 determines that the moving body 100 is going to move backward, the detection range determination unit 15 determines a plurality of object detection ranges that are appropriate for the moving body 100 to move backward based on instructions from the ECU 50. You may. Further, the detection range determination unit 15 may determine a plurality of object detection ranges based on changes in the operating state of the steering, accelerator, gear, etc. in the moving body 100, for example. Further, the detection range determination unit 15 may determine a plurality of object detection ranges based on the results of object detection by the object detection unit 14. Furthermore, the detection range determining unit 15 determines the object detection range based on the surrounding environment of the mobile object 100, such as the weather, the degree of crowding indicating whether there are many people, the time of day, including whether it is night time, etc. You may decide.

The parameter setting unit 16 sets various parameters that define a transmitted signal and a received signal for detecting an object that reflects the transmitted wave T as a reflected wave R. That is, the parameter setting unit 16 sets various parameters for transmitting the transmission wave T from the transmission antenna 25 and various parameters for receiving the reflected wave R from the reception antenna 31. The parameter setting unit 16 may set the slope of the chirp signal, which is a change in frequency with respect to time, and/or the sampling rate. That is, the distance range of the radar changes depending on the slope set by the parameter setting section 16. Further, the distance accuracy (distance resolution) changes depending on the sampling rate set by the parameter setting unit 16. Further, by setting the parameter setting unit 16, it is also possible to switch between the short-range three-dimensional sensing mode and the two-dimensional beam forming mode. The short-range three-dimensional sensing mode enables three-dimensional sensing by switching antennas that are vertically separated by a half wavelength. Two-dimensional beamforming mode allows high-speed detection. In the two-dimensional beamforming mode, beamforming allows the beam to travel over long distances. In the two-dimensional beamforming mode, it is possible to reduce unnecessary interference in the periphery by narrowing down the beam. Further, the parameter setting unit 16 may control the output, phase, amplitude, frequency, frequency range, etc. of the chirp signal.

In particular, in one embodiment, the parameter setting unit 16 may set various parameters related to the transmission of the transmitted wave T and the reception of the reflected wave R in order to detect an object in the above-described object detection range. For example, the parameter setting unit 16 may define a range in which the reflected wave R is desired to be received in order to receive the reflected wave R and detect an object in the object detection range. Further, for example, the parameter setting unit 16 may define a range to which the beam of the transmission wave T is to be directed in order to transmit the transmission wave T from the plurality of transmission antennas 25 and detect an object in the object detection range. . In addition, the parameter setting unit 16 may set various parameters for transmitting the transmitted wave T and receiving the reflected wave R.

Various parameters set by the parameter setting section 16 may be supplied to the signal generation section 21. Thereby, the signal generation section 21 can generate a transmission signal to be transmitted as a transmission wave T based on various parameters set by the parameter setting section 16. Various parameters set by the parameter setting section 16 may be supplied to the object detection section 14. Thereby, the object detection section 14 can perform a process of detecting an object in the object detection range determined based on various parameters set by the parameter setting section 16.

The ECU 50 included in the electronic device 1 according to one embodiment can control the operation of the entire mobile body 100, including the control of each functional unit that constitutes the mobile body 100. ECU 50 may include at least one processor, such as a CPU (Central Processing Unit), to provide control and processing power to perform various functions. The ECU 50 may be implemented by a single processor, several processors, or individual processors. A processor may be implemented as a single integrated circuit. An integrated circuit is also called an IC (Integrated Circuit). A processor may be implemented as a plurality of communicatively connected integrated and discrete circuits. The processor may be implemented based on various other known technologies. In one embodiment, the ECU 50 may be configured as, for example, a CPU and a program executed by the CPU. The ECU 50 may include memory necessary for the operation of the ECU 50 as appropriate. Further, at least a part of the functions of the control unit 10 may be a function of the ECU 50, or at least a part of the functions of the ECU 50 may be a function of the control unit 10.

The electronic device 1 shown in FIG. 2 includes two transmitting antennas 25 and four receiving antennas 31. However, the electronic device 1 according to one embodiment may include an arbitrary number of transmitting antennas 25 and an arbitrary number of receiving antennas 31. For example, by including the two transmitting antennas 25 and the four receiving antennas 31, the electronic device 1 can be considered to include a virtual antenna array virtually configured with eight antennas. In this way, the electronic device 1 may receive the reflected waves R of the 16 subframes shown in FIG. 3 by using, for example, eight virtual antennas.

Next, the operation of the electronic device 1 according to one embodiment will be described.

In recent years, sensors that can detect obstacles around vehicles such as cars include millimeter wave radar, LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), or ultrasonic sensors. There are various types. Among these sensors, millimeter wave radar is often adopted from the viewpoints of accuracy and reliability in detecting obstacles, as well as cost.

Technologies that use millimeter wave radar to detect obstacles around the vehicle include, for example, blind spot detection (BSD), cross traffic alert (CTA) when reversing or leaving a garage, and free space detection. detection (FSD: Free space detection), etc. In these detections, it is common to determine the object detection range by setting in advance a radio wave radiation range that depends on the physical shape of the millimeter-wave radar antenna. That is, in each radar, the physical shape of the millimeter wave radar antenna is predetermined according to its purpose or function, and the object detection range is also generally specified in advance. Therefore, in order to realize a plurality of different radar functions, a plurality of different radar sensors are required.

However, preparing a plurality of radar sensors depending on the purpose or function is disadvantageous from a cost standpoint. Further, for example, if the physical shape of the antenna is determined in advance and the radiation range is also determined, it is difficult to change the use and function of the antenna. Further, for example, when the physical shape and radiation range of the antenna are fixed and all objects within the radiation range are to be detected, the amount of information to be processed increases. In this case, since there is a possibility that an unnecessary object may also be erroneously detected as a target object, the reliability of detection may decrease. Also, for example, if the physical shape and radiation range of the antenna are fixed, and the number of sensors installed increases, the weight of the vehicle (mainly the harness) will increase, resulting in a decrease in fuel efficiency, or the increase in power consumption, resulting in a decrease in fuel efficiency. may decrease. Furthermore, if detection is performed using a plurality of radar sensors, a delay may occur between the sensors, so if automatic driving or driving assistance is performed based on such detection, processing may take time. This is because the CAN processing speed is slower than the radar update rate, and furthermore, feedback also takes time. Furthermore, if a plurality of sensors with different object detection ranges are used for detection, control may become complicated.

Therefore, the electronic device 1 according to one embodiment allows one radar sensor to be used for multiple functions or uses. Moreover, the electronic device 1 according to one embodiment enables operation as if a plurality of functions or uses were simultaneously realized by one radar sensor.

FIG. 4 is a diagram illustrating the operation of the electronic device 1 according to one embodiment.

It is assumed that a mobile object 100 shown in FIG. 4 is equipped with an electronic device 1 according to an embodiment. Further, as shown in FIG. 4, it is assumed that at least one sensor 5 is installed on the rear right side of the moving body 100. Further, as shown in FIG. 4, the sensor 5 is connected to an ECU 50 mounted on the mobile body 100. In the mobile body 100 shown in FIG. 4, a sensor 5 that operates in the same way as the sensor 5 installed on the right rear side may be installed at a location other than the right rear side. In the following description, only one sensor 5 installed at the rear right side will be described, and descriptions of the other sensors will be omitted. Further, in the following description, it is assumed that control of each functional unit constituting the electronic device 1 can be controlled by at least one of the control unit 10, the phase control unit 23, and the ECU 50. The moving body 100 shown in FIG. 4 has sensors 5 installed on the right rear side at other appropriate locations other than the right rear side, such as the left rear, the rear center, the left or right side, the right front, the left front, the front center, etc. A sensor 5 that operates in the same manner as above may be installed.

As shown in FIG. 4, the electronic device 1 according to one embodiment can detect an object by selecting one of a plurality of detection ranges. Moreover, the electronic device 1 according to one embodiment can detect an object by switching to any one of a plurality of detection ranges. FIG. 4 shows an example of a range in which an object is detected based on a transmission signal transmitted by the sensor 5 of the electronic device 1 and a reception signal received by the sensor 5 of the electronic device 1 according to an embodiment. The range in which an object is detected by the transmission signal transmitted by the sensor 5 of the electronic device 1 and the reception signal received by the sensor 5 of the electronic device 1 according to one embodiment is not limited to the range shown in FIG. It may also be within any other appropriate range.

For example, when the electronic device 1 according to one embodiment is used for the purpose or function of parking assist (PA), the electronic device 1 may perform object detection using the range (1) shown in FIG. 4 as the object detection range. I can do it. The object detection range (1) shown in FIG. 4 may be the same or similar to the object detection range of a radar specifically designed for parking assistance (PA), for example. For example, when the electronic device 1 according to one embodiment is used for the purpose or function of Free Space Detection (FSD), the range (2) shown in FIG. Detection can be performed. The object detection range (2) shown in FIG. 4 may be the same or similar to the object detection range of a radar specifically designed for free space detection (FSD), for example.

Further, for example, when the electronic device 1 according to the embodiment is used for the purpose or function of cross traffic alert (CTA) when exiting a warehouse, the range (3) shown in FIG. 4 is set as the object detection range. Object detection can be performed. The object detection range (3) shown in FIG. 4 may be the same or similar to the object detection range of a radar specifically designed for, for example, collision detection at exit (CTA). For example, when the electronic device 1 according to one embodiment is used for the purpose or function of Blind-Spot Detection (BSD), the range (4) shown in FIG. Detection can be performed. The object detection range (4) shown in FIG. 4 may be the same or similar to the object detection range of a radar specifically designed for blind spot detection (BSD), for example.

Furthermore, the electronic device 1 according to one embodiment can detect an object by arbitrarily switching a plurality of object detection ranges (1) to (4) shown in FIG. 4, for example. As described above, the plurality of ranges to be switched in this case may be determined, for example, based on the operation of the driver of the mobile object 100, or may be determined based on instructions from the control unit 10, the ECU 50, etc. good.

In this way, in the electronic device 1 according to one embodiment, when object detection is performed using any one of object detection ranges (1) to (4), the detection range determination unit 15 detects the object based on arbitrary information. Any plurality of object detection ranges may be determined. Further, when a plurality of object detection ranges are determined by the detection range determining unit 15, the parameter setting unit 16 sets various parameters for transmitting a transmission signal and receiving a reception signal in the determined plurality of object detection ranges. Set. Various parameters set by the parameter setting section 16 may be stored in the storage section 40, for example. The parameters set by the parameter setting unit 16 include the transmission timing of the transmission wave, the frequency range of the transmission wave, the rate of change of the transmission wave frequency over time, the period of the transmission wave, the time interval between the transmission timings of the transmission waves, and the transmission. The phase of the wave, the amplitude of the transmitted wave, the intensity of the transmitted wave, information for selecting the antenna for transmitting the transmitted wave, the transmission timing of the transmitted wave, and the information for selecting the antenna for receiving the received wave, etc. It may include anything you like.

Such parameters may be determined, for example, based on actual measurements in a test environment, before the electronic device 1 detects an object. Furthermore, if such a parameter is not stored in the storage unit 40, the parameter setting unit 16 may appropriately estimate the parameter based on predetermined data such as past measurement data. Furthermore, if such parameters are not stored in the storage unit 40, the parameter setting unit 16 may acquire appropriate parameters by, for example, connecting to an external network.

In this way, in one embodiment, the control unit 10 detects an object that reflects the transmitted wave T based on the transmitted signal transmitted as the transmitted wave T and the received signal received as the reflected wave R. Further, in one embodiment, the control unit 10 makes variable a plurality of object detection ranges (for example, object detection ranges (1) to (4) in FIG. 4) based on the transmitted signal and the received signal. In the present disclosure, the term "variable" may include the meaning of changing or being changeable.

Furthermore, in one embodiment, the control unit 10 may be able to switch between a plurality of object detection ranges. For example, the control unit 10 may switch the range in which object detection is performed from the object detection range (3) to the object detection range (2) while performing object detection in the object detection range (3). Further, in one embodiment, the control unit 10 may make the plurality of object detection ranges variable depending on the purpose of detecting objects (for example, parking assistance (PA), blind spot detection (BSD), etc.). . Further, in one embodiment, the control unit 10 may make the plurality of object detection ranges variable as a minute time passes, as described below. Such control will be described further below. The purpose of detecting this object may be set by the user, or the control unit 10 may be configured to detect the object based on the user's motion, the user's state, an instruction from the outside, the surrounding environment and moving speed, or a combination thereof, or other factors. It may be set based on , or it may be set by any other appropriate method.

Further, in one embodiment, the control unit 10 may determine a plurality of object detection ranges based on the object detection results. For example, if a predetermined object has already been detected by object detection, the control unit 10 may determine a plurality of object detection ranges depending on the position of the detected object. Further, in one embodiment, the control unit 10 may process only the transmitted signal and received signal in any one of the plurality of object detection ranges.

In this way, the electronic device 1 according to one embodiment can cut out (set and/or switch) the detection range in object detection using, for example, millimeter wave radar. Therefore, according to the electronic device 1 according to one embodiment, it is possible to flexibly respond to a situation in which it is desired to detect an object in a plurality of object detection ranges. Furthermore, the electronic device 1 according to the embodiment sets the detection range of the object to be wide in advance, and only detects the necessary range based on information such as the distance and/or angle detected by the electronic device 1. information can be extracted. Therefore, according to the electronic device 1 according to one embodiment, necessary detection range information can be processed without increasing the processing load. Therefore, according to the electronic device 1 according to one embodiment, the convenience of object detection can be improved.

As shown in FIG. 4, the electronic device 1 according to one embodiment makes the object detection range by the transmitted signal and the received signal variable, but may also direct the beam of the transmitted wave T to the object detection range. good. Thereby, it is possible to detect objects in a desired cutout range with high precision.

For example, as described above, the electronic device 1 according to the embodiment selects the object detection range (4) from among the plurality of detection ranges shown in FIG. It can be performed. The electronic device 1 according to one embodiment may further form a beam of the transmission wave T transmitted from the plurality of transmission antennas 25 toward the object detection range (4) (beamforming). For example, when detecting a distant object, the object detection range can be covered with high precision by performing beam forming with the beams of transmission waves transmitted from the plurality of transmitting antennas 25 in that direction.

5 and 6 are diagrams illustrating examples of arrangement of transmitting antennas and receiving antennas in an electronic device according to an embodiment. The directions of the X-axis, Y-axis, and Z-axis shown in FIGS. 5 and 6 may be the same as the directions of the X-axis, Y-axis, and Z-axis shown in FIG. 1.

The sensor 5 of the electronic device 1 according to one embodiment may include, for example, two transmitting antennas 25A and 25A', as shown in FIG. Further, the sensor 5 of the electronic device 1 according to one embodiment may include four receiving antennas 31A, 31B, 31C, and 31D, as shown in FIG.

The four receiving antennas 31A, 31B, 31C, and 31D are arranged in the horizontal direction (X-axis direction) at intervals of λ/2, with the wavelength of the transmitted wave T being λ. In this way, by arranging the plurality of receiving antennas 31 in the horizontal direction and receiving the transmitted wave T by the plurality of receiving antennas 31, the electronic device 1 can estimate the direction in which the reflected wave R arrives. can. Here, when the frequency band of the transmission wave T is from 77 GHz to 81 GHz, the wavelength λ of the transmission wave T may be the wavelength of the transmission wave T having a center frequency of 79 GHz.

Further, the two transmitting antennas 25A and 25A' are arranged in the vertical direction (Z-axis direction) at a distance of λ/2, with the wavelength of the transmitted wave T being λ. In this way, by arranging the plurality of transmitting antennas 25 in the vertical direction and transmitting the transmitting waves T by the plurality of transmitting antennas 25, the electronic device 1 can change the direction of the beam of the transmitting wave T in the vertical direction. It can be changed.

Further, the sensor 5 of the electronic device 1 according to one embodiment may include, for example, four transmitting antennas 25A, 25A', 25B, and 25B', as shown in FIG.

Here, as shown in FIG. 6, the two transmitting antennas 25A and 25B are arranged in the horizontal direction (X-axis direction) with an interval of λ/2, where the wavelength of the transmitted wave T is λ. . Further, as shown in FIG. 6, the two transmitting antennas 25A' and 25B' are also arranged in the horizontal direction (X-axis direction) with an interval of λ/2, where the wavelength of the transmitted wave T is λ. There is. In this way, by arranging the plurality of transmitting antennas 25 in the horizontal direction and transmitting the transmitting waves T by the plurality of transmitting antennas 25, the electronic device 1 can change the direction of the beam of the transmitting wave T in the horizontal direction. can also be changed.

On the other hand, as shown in FIG. 6, two transmitting antennas 25A and 25A' are arranged in the vertical direction (Z-axis direction) with a distance of λ/2, where λ is the wavelength of the transmitted wave T. . Further, as shown in FIG. 6, the two transmitting antennas 25B and 25B' are also arranged in the vertical direction (Z-axis direction) with an interval of λ/2, where λ is the wavelength of the transmitted wave T. . In this manner, also in the arrangement shown in FIG. 6, by arranging the plurality of transmitting antennas 25 in the vertical direction and transmitting the transmitting waves T by the plurality of transmitting antennas 25, the electronic device 1 can transmit the transmitting waves T. The beam direction can be changed vertically.

In the electronic device 1 according to one embodiment, when performing beamforming of the transmission waves T transmitted from the plurality of transmission antennas 25, each transmission wave T is The phases may be aligned in a predetermined direction. In the electronic device 1 according to the embodiment, in order to align the phases of the respective transmission waves T in a predetermined direction, for example, the phase control unit 23 controls at least one of the transmission waves transmitted from the plurality of transmission antennas 25. Two phases may be controlled.

The amount of phase to be controlled so that the phases of the plurality of transmission waves T are aligned in a predetermined direction may be stored in the storage unit 40 in correspondence with the predetermined direction. That is, the relationship between the beam direction and the phase amount when performing beamforming may be stored in the storage unit 40.

Such a relationship may be determined, for example, based on actual measurements in a test environment, before the electronic device 1 detects an object. Furthermore, if such a relationship is not stored in the storage unit 40, the relationship may be appropriately estimated by the phase control unit 23 based on predetermined data such as past measurement data. Further, if such a relationship is not stored in the storage unit 40, the phase control unit 23 may acquire an appropriate relationship by, for example, connecting to an external network.

In the electronic device 1 according to one embodiment, at least one of the control unit 10 and the phase control unit 23 may perform control for performing beamforming of the transmission waves T transmitted from the plurality of transmission antennas 25. Furthermore, in the electronic device 1 according to one embodiment, a functional section including at least the phase control section 23 is also referred to as a transmission control section.

In this way, in the electronic device 1 according to one embodiment, the transmitting antenna 25 may include a plurality of transmitting antennas. Furthermore, in the electronic device 1 according to one embodiment, the reception antenna 31 may also include a plurality of reception antennas. In the electronic device 1 according to the embodiment, the transmission control unit (for example, the phase control unit 23) controls the transmission waves T transmitted from the plurality of transmission antennas 25 to form beams in a predetermined direction (beamforming). May be controlled. Furthermore, in the electronic device 1 according to one embodiment, the transmission control section (for example, the phase control section 23) may form a beam in the direction of the range in which an object is detected.

Furthermore, in the electronic device 1 according to one embodiment, as described above, the transmitting antenna 25 may include a plurality of transmitting antennas 25 arranged to include a vertical component. In this case, in the electronic device 1 according to one embodiment, the phase control unit 23 (transmission control unit) may change the direction of the beam including a vertical component in the direction of the object detection range.

Furthermore, in the electronic device 1 according to one embodiment, as described above, the transmitting antenna 25 may include a plurality of transmitting antennas 25 arranged to include a horizontal component. In this case, in the electronic device 1 according to one embodiment, the phase control unit 23 (transmission control unit) may change the direction of the beam including a horizontal component in the direction of the object detection range.

Furthermore, in the electronic device 1 according to one embodiment, the transmission control section (for example, the phase control section 23) may form a beam in a direction that covers at least a part of the range in which an object is detected. Further, in the electronic device 1 according to the embodiment, the transmission control unit (for example, the phase control unit 23) controls the plurality of transmission waves T so that the phases of the respective transmission waves T transmitted from the plurality of transmission antennas 25 are aligned in a predetermined direction. The phase of at least one of the transmitted waves may be controlled.

According to the electronic device 1 according to the embodiment, a phase compensation value is calculated based on frequency information of a wide frequency band signal (for example, an FMCW signal) output from the plurality of transmitting antennas 25, and Frequency-dependent phase compensation can be implemented for each. Thereby, beamforming can be performed with high precision in a specific direction in all possible frequency bands of the transmission signal.

According to such beamforming, the distance at which an object can be detected can be expanded in a specific direction where object detection is required. Moreover, according to the above-described beamforming, reflected signals from unnecessary directions can be reduced. Therefore, the accuracy of detecting distance and angle can be improved.

FIG. 7 is a diagram illustrating the types of radar detection distances realized by the electronic device 1 according to an embodiment.

As described above, the electronic device 1 according to one embodiment can cut out an object detection range and/or perform beamforming of a transmission wave. By employing at least one of cutting out the object detection range and beamforming the transmitted waves, it is possible to define the distance range in which the object can be detected by the transmitted signal and the received signal.

As shown in FIG. 7, the electronic device 1 according to one embodiment can perform object detection within a range of r1, for example. The range r1 shown in FIG. 7 may be a range in which object detection can be performed by, for example, an ultra short range radar (USRR). Furthermore, as shown in FIG. 7, the electronic device 1 according to one embodiment can perform object detection within a range of r2, for example. The range r2 shown in FIG. 7 may be a range in which object detection can be performed using, for example, short range radar (SRR). Furthermore, as shown in FIG. 7, the electronic device 1 according to one embodiment can perform object detection within a range of r3, for example. The range r3 shown in FIG. 7 may be, for example, a range in which object detection can be performed using a mid-range radar (MRR). As described above, the electronic device 1 according to one embodiment can perform object detection by appropriately switching between ranges r1, r2, and r3, for example. As described above, radars with different detection distances tend to have lower distance measurement accuracy as the detection distance becomes longer.

In this way, in the electronic device 1 according to one embodiment, the control unit 10 may set the distance range for detecting an object using the transmitted signal and the received signal according to any one of a plurality of object detection ranges. .

Next, in the electronic device 1 according to one embodiment, a manner in which one of the plurality of object detection ranges is set for each frame of the transmitted wave T, etc. will be described.

The electronic device 1 according to one embodiment may store, for example, in the storage unit 40, parameters defining various settings for cutting out the object detection range. Furthermore, the electronic device 1 according to the embodiment may also store, for example, in the storage unit 40 parameters defining various settings for beamforming toward the object detection range. Further, the electronic device 1 according to the embodiment may also store, for example, in the storage unit 40, parameters defining various settings for realizing the types of detection distances by the radar as shown in FIG.

The electronic device 1 according to one embodiment sets (assigns) operations for realizing a plurality of types of radar functions for each minute time interval, such as a frame of the transmission wave T, for example. For example, below, for three types of radars, operation settings for realizing different radar functions will be described for each minute time interval, such as a frame of the transmission wave T.

Hereinafter, the three types of radars will be referred to as "radar 1," "radar 2," and "radar 3," respectively, for convenience. These "Radar 1," "Radar 2," and "Radar 3" are distinguished by parameters that define operations for realizing different radar functions. That is, "Radar 1", "Radar 2", and "Radar 3" may be radars with different object detection ranges. These different types of radar may be defined by different parameters, for example. Further, "Radar 1", "Radar 2", and "Radar 3" may be radars that differ in whether or not beam forming is performed and in the direction in which beam forming is performed. These different types of radars may also be defined by different parameters, for example. Further, "Radar 1", "Radar 2", and "Radar 3" may each be radars having different types of detection distances as shown in FIG. 7. These different types of radars may also be defined by different parameters, for example.

8 to 10 are diagrams showing how functions of different types of radars are set (allocated) for each frame of the transmission wave T, etc.

Similar to FIG. 3, FIG. 8 is a diagram showing a frame of the transmission wave T. In the example shown in FIG. 8, frames 1 to 6 of the transmission wave T are shown, but subsequent frames may also continue. Further, each frame shown in FIG. 8 may include, for example, 16 subframes, similar to frame 1 shown in FIG. 3. Further, in this case, each of these subframes may include, for example, eight chirp signals, similar to each subframe shown in FIG. 3.

The electronic device 1 according to one embodiment may set (assign) different radar functions to at least one or more frames of the transmission wave T, as shown in FIG. 8, for example. For example, the electronic device 1 according to one embodiment may set one of a plurality of object detection ranges for each frame of the transmission wave T, for example. For example, the electronic device 1 according to one embodiment may set any one of a plurality of object detection ranges for each frame of the transmission wave T, each of which includes one or more frames. In this way, in the electronic device 1 according to one embodiment, the control unit 10 may set any one of the plurality of object detection ranges for each frame of the transmission wave T. Furthermore, in the electronic device 1 according to the embodiment, the control unit 10 may switch one of the plurality of object detection ranges for each frame of the transmission wave T to transmit the transmission signal and receive the reception signal. good. In the example shown in FIG. 8, the function of radar 1 is set in frame 1 of the transmission wave T, the function of radar 2 is set in frame 2 of the transmission wave T, and the function of radar 3 is set in frame 3 of the transmission wave T. function is set, and the same function is set repeatedly thereafter. In one embodiment, each frame of the transmitted wave T may be on the order of, for example, several tens of microseconds. Therefore, the electronic device 1 according to one embodiment functions as a different radar every very short time. Therefore, the electronic device 1 according to one embodiment operates as if a plurality of functions or uses are simultaneously realized by one radar sensor. In the electronic device 1 according to one embodiment, when setting the radar function for each frame of the transmission wave T, even if some or all of the radar functions for each frame of the transmission wave T are the same function. good. In the present disclosure, the radar function set in each frame of the transmission wave T is not limited to the pattern shown in FIG. 8, and may be any appropriate pattern.

Similar to FIG. 3, FIG. 9 is a diagram showing subframes included in the frame of the transmission wave T. In the example shown in FIG. 9, subframes 1 to 6 of the transmission wave T are shown, but subsequent subframes may also continue. Furthermore, subframes 1 to 6 shown in FIG. 9 may form part of 16 subframes included in frame 1 shown in FIG. 3. Further, each of the subframes shown in FIG. 9 may include, for example, eight chirp signals, similarly to each subframe shown in FIG. 3.

The electronic device 1 according to one embodiment may set (assign) different radar functions to each subframe of the transmission wave T, as shown in FIG. 9, for example. For example, the electronic device 1 according to one embodiment may set one of a plurality of object detection ranges for each subframe of the transmission wave T, for example. In this way, in the electronic device 1 according to one embodiment, the control unit 10 controls any one of the plurality of object detection ranges based on the transmitted signal and the received signal for each part (for example, subframe) constituting the frame of the transmitted wave T. It may be set to In the example shown in FIG. 9, the function of radar 1 is set in subframe 1 of transmission wave T, the function of radar 2 is set in subframe 2 of transmission wave T, and the function of radar 2 is set in subframe 3 of transmission wave T. The function of Radar 3 is set, and the same function is repeatedly set thereafter. In one embodiment, each subframe of the transmitted wave T may be shorter than the time of one frame, for example. Therefore, the electronic device 1 according to one embodiment functions as a different radar for each shorter time period. Therefore, the electronic device 1 according to one embodiment operates as if a plurality of functions or uses are simultaneously realized by one radar sensor. In the electronic device 1 according to one embodiment, when setting the radar function for each subframe of the transmission wave T, some or all of the radar functions for each subframe of the transmission wave T are the same function. It's okay. In the present disclosure, the radar functions set in each subframe of the transmission wave T are not limited to the pattern shown in FIG. 9, and may be any appropriate pattern.

Similar to FIG. 3, FIG. 10 is a diagram showing a chirp signal included in a subframe of the transmission wave T. In the example shown in FIG. 10, the middle of subframe 1 to subframe 2 of the transmission wave T is shown, but the subframe after subframe 1 may also continue in the same way as subframe 1. Further, subframe 1 shown in FIG. 10 may include eight chirp signals similarly to subframe 1 shown in FIG. 3. Further, each of the chirp signals shown in FIG. 10 may be the same as each of the eight chirp signals included in each subframe shown in FIG. 3.

For example, as shown in FIG. 10, the electronic device 1 according to one embodiment may set (assign) different radar functions to at least one or more chirp signals included in a subframe of the transmission wave T. For example, the electronic device 1 according to one embodiment may set one of a plurality of object detection ranges for each chirp signal of the transmission wave T, for example. For example, the electronic device 1 according to one embodiment may set one of a plurality of object detection ranges for each chirp signal of the transmission wave T, each of which is an arbitrary number of one or more. In this way, in the electronic device 1 according to one embodiment, the control unit 10 sets one of the plurality of object detection ranges based on the transmitted signal and the received signal for each chirp signal that constitutes the frame of the transmitted wave T. Good too. In the example shown in FIG. 10, the function of radar 1 is set to the chirp signal c1 of the transmission wave T, the function of radar 2 is set to the chirp signal c2 of the transmission wave T, and the function of radar 2 is set to the chirp signal c3 of the transmission wave T. The function of Radar 3 is set, and the same function is repeatedly set thereafter. In one embodiment, each chirp signal of the transmitted wave T may be shorter than, for example, one subframe. Therefore, the electronic device 1 according to one embodiment functions as a different radar for each shorter time period. Therefore, the electronic device 1 according to one embodiment operates as if a plurality of functions or uses are simultaneously realized by one radar sensor. In the electronic device 1 according to one embodiment, when setting the radar function for each chirp signal of the transmission wave T, some or all of the radar functions for each chirp signal of the transmission wave T are the same function. Good too. In the present disclosure, the radar function set to the chirp signal of the transmission wave T is not limited to the pattern shown in FIG. 10, and may be any appropriate pattern. In addition, in the explanation of FIGS. 8, 9, and 10, the radar functions set for each frame, subframe, and chirp signal are radar function 1, radar function 2, and radar function 3, but in this disclosure, each The number and/or types of radar functions set in frames, subframes, and chirp signals are not limited to these and may be arbitrary. For example, in the present disclosure, the number of radar functions set in each frame, subframe, and chirp signal may be two, or four or more. In the present disclosure, the type of radar function set for each frame, subframe, and chirp signal may be a radar function for realizing PA, FSD, BSD, CTA, Rear-CTA, etc.

As explained above, according to the electronic device 1 according to the embodiment, it is possible to cut out a detection range and perform beamforming in the direction of the cut out detection range according to various uses or functions. can. Further, according to the electronic device 1 according to the embodiment, cutting out of the detection range and beam forming directed in the direction of the cut out detection range can be arbitrarily switched. Therefore, one radar sensor can be used for multiple applications or functions, for example by dynamically switching. Therefore, according to the electronic device 1 according to one embodiment, the convenience of object detection can be improved. Furthermore, the electronic device 1 according to the embodiment not only enables highly accurate object detection, but is also extremely advantageous from a cost perspective.

Further, according to the electronic device 1 according to the embodiment, by appropriately changing the direction of the beam of the transmission wave transmitted from the plurality of transmitting antennas or switching the object detection range, it is possible to Functions can be changed. That is, according to the electronic device 1 according to the embodiment, the purpose of detecting an object can be achieved by appropriately changing the direction of the beam of the transmission wave transmitted from the plurality of transmitting antennas or by switching the object detection range. Accordingly, the use and function of one sensor can be changed. Further, according to the electronic device 1 according to the embodiment, only a specific portion within the range of transmitting the transmission wave T can be detected, so that an increase in the amount of information to be processed is suppressed. Further, according to the electronic device 1 according to the embodiment, the possibility of erroneously detecting an unnecessary object as a target object is also reduced, so that the reliability of detection can be improved.

Moreover, according to the electronic device 1 according to one embodiment, an object can be detected as if one sensor 5 were used as a plurality of sensors. Therefore, according to the electronic device 1 according to the embodiment, the weight of the vehicle (particularly the harness) does not increase. Therefore, according to the electronic device 1 according to the embodiment, it is possible to avoid a decrease in fuel efficiency due to an increase in the number of sensors 5 or a decrease in fuel consumption due to an increase in power consumption.

Moreover, according to the electronic device 1 according to one embodiment, the functions of a plurality of radar sensors can be integrated into one. Therefore, delays that may occur between multiple sensors can also be avoided. Therefore, the inconvenience that processing may take a long time when performing automatic driving or driving assistance can also be avoided. Furthermore, according to the electronic device 1 according to the embodiment, it is also possible to avoid complicated control as in the case where detection is performed using a plurality of sensors with different object detection ranges.

Conventionally, when detecting an object in a plurality of object detection ranges, it has been possible to perform the detection by using a plurality of sensors each having a unique object detection range. However, conventionally, it has been difficult to accurately detect objects at short distances while simultaneously detecting objects at long distances using one sensor.

On the other hand, according to the electronic device 1 according to one embodiment, one sensor can perform object detection in a plurality of object detection ranges. Further, according to the electronic device 1 according to the embodiment, it is possible to operate the electronic device 1 as if object detection were to be performed simultaneously in a plurality of object detection ranges.

FIG. 11 is a flowchart illustrating the operation of the electronic device according to one embodiment. The flow of the operation of the electronic device according to one embodiment will be described below.

The operation shown in FIG. 11 may be started, for example, when the electronic device 1 mounted on the mobile body 100 detects an object existing around the mobile body 100.

When the operation shown in FIG. 11 starts, the detection range determination unit 15 of the control unit 10 determines a plurality of object detection ranges to be switched and used (step S1). For example, in step S1, the detection range determination unit 15 may determine a plurality of object detection ranges (1) to (4) shown in FIG. 4 as object detection ranges. In step S1, the detection range determination unit 15 may determine a plurality of object detection ranges based on the operation of the driver of the moving body 100, or may determine a plurality of object detection ranges based on an instruction from the control unit 10 or the ECU 50, for example. The object detection range may be determined.

Furthermore, the operation shown in step S1 may not be performed for the first time after starting the operation shown in FIG. 11, but may be started again after the operation shown in FIG. 11 has already been performed previously. If there is already a result of object detection by the object detection unit 14 at the time of step S1 performed again, the detection range determination unit 15 determines a plurality of object detection ranges based on the position of the detected object. It's okay.

When a plurality of object detection ranges are determined in step S1, the parameter setting unit 16 sets various parameters in the electronic device 1 for each frame of the transmission wave T, etc., in order to detect objects in the determined plurality of object detection ranges. Parameters are set (step S2). For example, in step S2, the parameter setting unit 16 sets various parameters such that object detection is performed by cutting out a plurality of ranges from object detection ranges (1) to (4) shown in FIG. 4 as object detection ranges. is set for each frame of the transmitted wave T. In step S2, as shown in FIGS. 8 to 9, various parameters may be set for each frame of the transmitted wave T, or may be set for each part (for example, subframe) that constitutes the frame. However, it may be set for each chirp signal. Various parameters set for performing object detection by cutting out a detection range such as each object detection range can be stored in the storage unit 40, for example. In this case, in step S2, the parameter setting section 16 may read various parameters from the storage section 40 and set them. In step S2, the parameter setting unit 16 may set various parameters for the object detection unit 14, for example. In the present disclosure, in step S2, various parameters may be set for each frame of the transmission wave T, or for each part (for example, subframe) constituting the frame, as shown in FIGS. 8 to 9. It may be set for each chirp signal, or it may be set by any combination of these.

Further, in step S2, the parameter setting unit 16 sets various parameters for each frame of the transmission wave T so that the beam of the transmission wave is formed in the direction of each determined object detection range. Good too. For example, in step S2, the parameter setting unit 16 sets various parameters for each frame of the transmitted wave T so that the beam of the transmitted wave is directed to the object detection range determined in step S1. Various parameters set for directing the beam of the transmission wave to a detection range such as each object detection range can be stored in the storage unit 40, for example. In this case, in step S2, the parameter setting section 16 may read various parameters from the storage section 40 and set them. In step S2, the parameter setting section 16 may set various parameters for, for example, the phase control section 23 (transmission control section) or the transmission section 20 for each frame of the transmission wave T.

In this way, in the electronic device 1 according to one embodiment, the parameter setting unit 16 of the control unit 10 sets a parameter that defines one of a plurality of object detection ranges based on the transmitted signal and the received signal, such as the frame of the transmitted wave T. You can set it for each. Further, the parameter setting unit 16 may switch the radar type for each frame or for each processing unit within a frame among radar types with different detection ranges, and may notify the signal generation unit 21 of the switching.

After the parameters are set in step S2, the control unit 10 controls the transmitting antenna 25 to transmit the transmitting wave T according to the order of the frames of the transmitting wave T (step S3). For example, in step S3, the signal generation unit 21 may generate transmission signals that function as each type of radar based on the parameters set by the parameter setting unit 16 and in accordance with the order of the frames of the transmission wave T. Further, when performing beamforming of the transmission waves T, in step S3, the phase control unit 23 (transmission control unit) controls each transmission wave transmitted from the plurality of transmission antennas 25 in accordance with the order of the frames of the transmission waves T, etc. T is controlled to form a beam in a predetermined direction. In this case, the phase control section 23 (transmission control section) may control the phase of each transmission wave T. Further, the phase control unit 23 (transmission control unit) operates in the direction of the object detection range determined in step S1, in accordance with the order of the frames of the transmission wave T so as to cover at least a part of the object detection range, for example. It may also be controlled to direct the beam of the transmitted wave T.

After the transmission wave T is transmitted in step S3, the control unit 10 controls the receiving antenna 31 to receive the reflected wave R (step S4).

When the reflected wave R is received in step S4, the control unit 10 detects objects existing around the moving body 100 (step S5). In step S5, the object detection unit 14 of the control unit 10 may detect an object in the object detection range determined in step S1 (cutting out the object detection range). In step S5, the object detection unit 14 of the control unit 10 detects the presence of an object based on the estimation result by at least one of the distance FFT processing unit 11, the speed FFT processing unit 12, and the angle of arrival estimation unit 13. Good too.

In the electronic device 1 according to one embodiment, the object detection unit 14 of the control unit 10 performs object detection (for example, clustering) processing based on angle, speed, and distance information obtained for each of a plurality of different types of radars. , the average power of points constituting the object may be calculated. Further, in the electronic device 1 according to the embodiment, the object detection unit 14 notifies a higher-level control CPU such as the ECU 50 of object detection information or point cloud information obtained for each of a plurality of different types of radars. It's okay.

Detection of the object in step S5 can be performed based on various algorithms using known millimeter wave radar technology, so a more detailed explanation will be omitted. Further, after step S5 shown in FIG. 11, the control unit 10 may start the process of step S1 again. In this case, the object detection range may be determined in step S1 based on the result of detecting the object in step S5. In this way, in the electronic device 1 according to one embodiment, the control unit 10 determines which object reflects the transmitted wave T based on the transmitted signal transmitted as the transmitted wave T and the received signal received as the reflected wave R. May be detected.

In the embodiments described above, one of a plurality of ranges in which objects are detected using transmitted signals and received signals is set for each frame, each subframe, or each chirp signal, for example. On the other hand, in one embodiment, for example, in a frame or a subframe, at least one of a plurality of ranges in which objects are detected using transmitted signals and received signals may be set with more freedom. Such an embodiment will be described below.

In the embodiment shown in FIG. 10, different radar functions are set (assigned) to each chirp signal included in the subframe of the transmission wave T. In FIG. 10, the function of radar 1 is set to chirp signal c1, the function of radar 2 is set to chirp signal c2, the function of radar 3 is set to chirp signal c3, and the same function is repeated thereafter. set. Furthermore, in the example shown in FIG. 10, each chirp signal has the same length of time. In the present disclosure, the length of time of the chirp signal may be the length of time for the frequency of the transmitted chirp signal to increase from 0 and return to 0 again. Further, in the present disclosure, the time length of the chirp signal may be the period T of the chirp signal to be transmitted. Furthermore, in the example shown in FIG. 10, the maximum frequencies of each chirp signal are all the same. Therefore, the frequency gradients are all the same in each chirp signal. Furthermore, in the example shown in FIG. 10, each chirp signal is arranged without any gaps, that is, without any temporal intervals, in the subframe or frame. However, in one embodiment, when assigning different radar functions to each chirp signal, the chirp signals do not necessarily have to be arranged as in the example shown in FIG. In the example shown in FIG. 10, each chirp signal may have the same length of time or different lengths of time. In the example shown in FIG. 10, the maximum frequencies of the respective chirp signals may all be the same or may be different maximum frequencies. In the example shown in FIG. 10, the frequency slopes of each chirp signal may be the same or different.

FIG. 12 is a diagram illustrating an example in which the electronic device 1 according to an embodiment sets an object detection range in a frame. As shown in FIG. 12, the control unit 10 of the electronic device according to one embodiment may arrange different chirp signals in frames, for example. In FIG. 12, similarly to FIG. 10, the function of radar 1 is set for chirp signal c1, the function of radar 2 is set for chirp signal c2, and the function of radar 3 is set for chirp signal c3. . On the other hand, in FIG. 12, the chirp signals are arranged with gaps, that is, with time intervals. In particular, in FIG. 12, chirp signal c1 does not start at the beginning of frame 1. Furthermore, in the example shown in FIG. 12, the chirp signals do not all have the same length of time. Furthermore, in the example shown in FIG. 12, the maximum frequencies of the respective chirp signals are not all the same. Therefore, the frequency slopes of each chirp signal are not all the same. Each chirp signal shown in FIG. 12 is an example. The electronic device 1 according to one embodiment may appropriately arrange a chirp signal having an arbitrary length and an arbitrary frequency band in each frame. The control unit 10 of the electronic device according to an embodiment of the present disclosure may arbitrarily combine different chirp signals or the same chirp signal as shown in FIG. 12 as chirp signals used for frames.

Furthermore, in the example shown in FIG. 12, the same arrangement of chirp signals as in frame 1 may be repeated from frame 2 onwards, or chirp signals different from those for frame 1 may be arranged from frame 2 onwards. Furthermore, in the example shown in FIG. 12, different chirp signals may be arranged in frames 2 and subsequent frames.

Among the chirp signals in frame 1 shown in FIG. 12, the maximum frequency of the chirp signal c1 is the largest, and the maximum frequency of the chirp signal c2 is the smallest. Furthermore, among the chirp signals in frame 1 shown in FIG. 12, the time of the chirp signal c1 is relatively short, and the times of the chirp signal c2 and chirp signal c3 are relatively long. As the time of the chirp signal becomes longer, the power increases accordingly, which can improve the accuracy when detecting an object. Further, if the frequency band of the chirp signal is widened, the accuracy in detecting an object can be improved.

In this way, the control unit 10 of the electronic device 1 according to one embodiment may set at least one of a plurality of ranges in which an object is detected using the transmitted signal and the received signal in the frame of the transmitted wave. As described above, in one embodiment, for example, in a frame or a subframe, at least one of a plurality of ranges in which an object is detected may be set with more freedom. FIG. 12 shows an example in which at least one of a plurality of object detection ranges is set with a degree of freedom in each frame. On the other hand, the control unit 10 of the electronic device 1 according to one embodiment may set at least one of the plurality of ranges in which an object is detected in each subframe with a degree of freedom.

(Other embodiments)
Next, electronic devices according to other embodiments will be described. An electronic device according to another embodiment calibrates a transmitted wave based on a transmitted signal and a received signal.

FIG. 13 is a functional block diagram schematically showing a configuration example of an electronic device according to another embodiment. An example of the configuration of an electronic device according to an embodiment will be described below.

As shown in FIG. 13, an electronic device 2 according to another embodiment may have the same configuration as the electronic device 1 shown in FIG. 2 except for a part. That is, as shown in FIG. 13, an electronic device 2 according to another embodiment is the electronic device 1 shown in FIG. 2 to which a calibration processing section 17 is added. Therefore, descriptions that are the same or similar to those described in FIG. 2 will be simplified or omitted as appropriate.

The calibration processing unit 17 performs calibration processing based on the beat signal digitized by the AD conversion unit 35. That is, the calibration processing unit 17 performs calibration of the transmitted wave based on the transmitted signal and the received signal. The signal subjected to calibration processing by the calibration processing section 17 may be supplied to the distance FFT processing section 11.

FIG. 14 is a diagram illustrating the structure of a frame in another embodiment.

FIG. 14 is a diagram illustrating an example in which the electronic device 2 according to another embodiment sets a chirp signal used for calibration together with an object detection range in a frame. As shown in FIG. 14, the control unit 10 of the electronic device 2 according to one embodiment may arrange different chirp signals in frames, for example. In FIG. 14, the function of radar 1 is set to chirp signal c1, and the function of radar 2 is set to chirp signal c2. Further, in FIG. 14, chirp signal c3 is assigned as a chirp signal used for calibration. Each chirp signal shown in FIG. 14 is an example. The electronic device 1 according to one embodiment may appropriately arrange a chirp signal having an arbitrary length and an arbitrary frequency band in each frame.

For example, in FIG. 14, the chirp signal c3 used for calibration may be placed at any position in the frame. Furthermore, the chirp signal c3 used for calibration may have any length. Further, the chirp signal c3 used for calibration may have an arbitrary maximum frequency. Therefore, the chirp signal c3 used for calibration may have a slope of an arbitrary frequency.

In the example shown in FIG. 14, only one chirp signal c3 is used for calibration. However, the number of chirp signals c3 used for calibration may be arbitrary in each frame. For example, in the example shown in FIG. 14, two or more chirp signals used for calibration may be arranged in frame 1. Furthermore, in the example shown in FIG. 14, the chirp signal used for calibration may not be placed in frame 1, but may be placed in frames 2 and thereafter.

If high measurement accuracy is required of the sensor 5, a relatively large number of chirp signals used for calibration may be included. On the other hand, if the sensor 5 is not required to have very high measurement accuracy, a relatively small number of chirp signals used for calibration may be included. For example, chirp signals used for calibration may be arranged every other frame. Further, chirp signals used for calibration may be arranged, for example, every 5 frames or every 10 frames.

Furthermore, in the example shown in FIG. 14, the same arrangement of chirp signals as in frame 1 may be repeated from frame 2 onwards, or chirp signals different from those for frame 1 may be arranged from frame 2 onwards. Furthermore, in the example shown in FIG. 14, different chirp signals may be arranged in frames 2 and subsequent frames.

In this way, the control unit 10 of the electronic device 2 according to another embodiment includes a chirp signal for performing this calibration process in a frame or subframe. That is, the control unit 10 of the electronic device 2 arranges (allocates) a chirp signal (signal used for calibration) for performing calibration processing in a frame or subframe. Furthermore, the control unit 10 of the electronic device 2 performs calibration using signals included in frames or subframes.

As described above, a typical radar sensor has a function of calculating at least one of the distance, relative velocity, and angle to an object to be detected. On the other hand, general radar sensors have the following factors that can cause errors. For example, regarding the distance, an error may occur due to the position where the radar sensor is mounted (mounting depth from the vehicle surface) and/or deviation of the clock frequency inside the radar sensor. Further, regarding the relative speed, an error may occur due to an error in the speedometer of the vehicle and/or a deviation in the clock frequency inside the radar sensor. Further, regarding the angle, errors may occur due to deviations in the angle at which the radar sensor is mounted and/or deviations in the shape/spacing of the antennas during manufacturing.

Hereinafter, as an example, the angle error will be further explained. The angle detected by the radar sensor is calculated based on the angle at which the radar sensor is attached to the vehicle. For example, assume that the radar sensor is installed at an angle of 5 degrees from the reference angle of the vehicle, and the angle estimated by the radar sensor is 10 degrees from the reference angle of the vehicle. In this case, the radar sensor recognizes that the object is detected at an angle of 15 degrees with respect to the vehicle. However, for example, assume that the radar sensor is installed at an angle of 7 degrees from the reference angle of the vehicle, and the angle estimated by the radar sensor is 10 degrees from the reference angle of the vehicle. In this case, the radar sensor recognizes that the object is detected at an angle of 17 degrees with respect to the vehicle. Such mounting angle deviations are difficult to completely eliminate and are basically accompanied by initial deviations and/or secular deviations.

Therefore, in order to reduce the influence of the deviation, the electronic device 2 according to another embodiment performs a calibration process, for example, during operation. The calibration process performed by the calibration processing unit 17 may be a correction function for maintaining the object detection function of the electronic device 2 with high accuracy, for example. Here, the above-mentioned calibration process will be explained.

The main purpose of a radar such as the sensor 5 is often to detect objects that are at risk of colliding with a moving body such as a vehicle on which the radar is mounted. However, a radar such as the sensor 5 can also detect objects with a relatively low risk of collision when the moving body is running, such as guardrails and utility poles. When these objects are detected by radar, they are recognized as objects moving in the same direction as the moving body and in the opposite direction to the moving direction.

Therefore, the electronic device 2 according to another embodiment performs calibration using the chirp signal c3 shown in FIG. 14, for example. Specifically, the electronic device 2 transmits a transmission wave such as a chirp signal c3 shown in FIG. Then, the calibration processing unit 17 may compare the beat signal digitized by the AD conversion unit 35 with information on a known object (guardrail) stored in the storage unit 40. Here, the calibration processing unit 17 may consider the mounting angle of the transmitting antenna 25 (and the receiving antenna 31) in the sensor 5 and perform comparison with the trajectory (known data) of the object to be originally detected. Based on the results of such verification, the calibration processing unit 17 may correct various parameters used in various processes.

Further, in the electronic device 2 according to another embodiment, a predetermined reflector or the like may be installed, for example, inside the radar cover or the housing of the sensor 5. Here, for a given reflector, at least one of information such as the installed position and/or angle of the reflector, and the reflectance of the material forming the reflector may be stored in the storage unit 40 in advance. In this case, the electronic device 2 according to the other embodiment transmits a transmission wave such as a chirp signal c3 shown in FIG. do. Then, the calibration processing section 17 may compare the beat signal digitized by the AD conversion section 35 with information on a known object (predetermined reflector) stored in the storage section 40. Here, the calibration processing unit 17 may consider the mounting angle of the transmitting antenna 25 (and the receiving antenna 31) in the sensor 5 and perform comparison with the trajectory (known data) of the object to be originally detected. Based on the results of such verification, the calibration processing unit 17 may correct various parameters used in various processes.

In this way, the electronic device 2 according to another embodiment may perform the calibration process within one frame time, for example. Further, the electronic device 2 according to another embodiment may perform the calibration process, for example, in each frame or each subframe. When performing the calibration process repeatedly in this manner, various statistical processes may be performed, such as averaging the results of each process. According to such statistical processing, by repeating the calibration processing, it can be expected that the accuracy of detection by the radar function of the electronic device 2 can be gradually improved. Further, when performing such statistical processing, detection results that can be considered as noise may be excluded.

In this way, in the electronic device 2 according to another embodiment, the control unit 10 sets at least one of a plurality of ranges in which an object is detected using the transmitted signal and the received signal in the frame of the transmitted wave. Furthermore, in the electronic device 2 according to another embodiment, the control unit 10 may include a signal used for calibration in the frame. Furthermore, in the electronic device 2 according to another embodiment, the control unit 10 may perform calibration using a signal included in the frame.

In the above-described embodiment, the explanation has been made on the assumption that the calibration process performed by the electronic device 2 calibrates the plane angle of arrival θ (for example, in the XY plane shown in FIG. 1). That is, the electronic device 2 can calibrate the attachment angle of the transmitting antenna 25 (and the receiving antenna 31) in the sensor 5 based on the detected angle of arrival θ. However, in other embodiments, the electronic device 2 may perform other calibrations. For example, in other embodiments, the electronic device 2 may calibrate the mounting angle of the transmitting antenna 25 (and the receiving antenna 31) in the vertical direction (for example, in the Z-axis direction shown in FIG. 1) in the sensor 5. . Furthermore, if possible, the electronic device 2 according to another embodiment may perform calibration based on the position of the detected object and/or the relative speed with respect to the detected object, for example. . Further, for example, in another embodiment, the electronic device 2 may calibrate the power of the transmission wave transmitted from the transmission antenna 25.

Technologies that use millimeter wave radar to detect obstacles around the vehicle include, for example, Blind Spot Detection (BSD), Cross Traffic Alert (CTA) when reversing or leaving a garage, and Rear/Cross Traffic Alert (CTA). These include cross-traffic alert (Rear-CTA), free space detection (FSD), and parking assist (PA). In these detections, it is common to determine the object detection range by setting in advance a radio wave radiation range that depends on the physical shape of the millimeter-wave radar antenna. In other words, for each radar, the physical shape of the millimeter wave radar antenna is predetermined according to its purpose, application, or function, and the object detection range is also generally specified in advance. be. Therefore, in order to realize a plurality of different radar functions, a plurality of different radar sensors are required.

However, preparing a plurality of radar sensors depending on the purpose, application, or function is disadvantageous in terms of cost. Further, for example, if the physical shape of the antenna is determined in advance and the radiation range is also determined, it is difficult to change the use and function of the antenna. Further, for example, when the physical shape and radiation range of the antenna are fixed and all objects within the radiation range are to be detected, the amount of information to be processed increases. In this case, since there is a possibility that an unnecessary object may also be erroneously detected as a target object, the reliability of detection may decrease. Also, for example, if the physical shape and radiation range of the antenna are fixed, and the number of sensors installed increases, the weight of the vehicle (mainly the harness) will increase, resulting in a decrease in fuel efficiency, or the increase in power consumption, resulting in a decrease in fuel efficiency. may decrease. Furthermore, if detection is performed using a plurality of radar sensors, a delay may occur between the sensors, so if automatic driving or driving assistance is performed based on such detection, processing may take time. This is because the CAN processing speed is slower than the radar update rate, and furthermore, feedback also takes time. Furthermore, if a plurality of sensors with different object detection ranges are used for detection, control may become complicated.

Therefore, the electronic device 1 according to one embodiment allows one radar sensor to be used for multiple purposes, functions, or uses.

Here, an example of the object detection range used in each embodiment of the present disclosure will be described with reference to FIGS. 15 to 18. 15 to 18 are conceptual diagrams illustrating an example of an object detection range used in an electronic device according to an embodiment of the present disclosure.

FIG. 15 shows the detection range S1 of the sensor 5 when performing parking assist (PA). The sensor 5 is arranged at the right rear end of the moving body 100. The arrangement position of the sensor 5 is not limited to the right rear end of the moving body 100, but may be placed at the left rear end or any other arbitrary position. Furthermore, the number of sensors 5 may also be any number greater than or equal to one. In FIG. 15, the horizontal axis passing through the sensor 5 is defined as the Y-axis in a direction substantially parallel to the traveling direction when the moving body 100 moves straight. Further, the angle counterclockwise from the Y axis is defined as the outward angle. The direction substantially parallel to the traveling direction when the moving body 100 moves straight may be, for example, a direction substantially parallel to the side surface of the vehicle body of the moving body 100.

In the case of parking assistance (PA) in FIG. 15, the range S1 of the transmission wave of the sensor 5 is the Y-axis of the axis C passing through the center of the transmission range S1 when the sensor 5 on which the transmission antenna is mounted is viewed from vertically above. The angle θ1 from the Y axis may be 45° in the outward direction from the Y axis. Further, in the case of parking assistance (PA) in FIG. 15, the range S1 of the transmitted wave from the sensor 5 may be such that the distance r1 from the sensor 5 is 10 m or less at maximum. Further, the angular range α1 of the transmission range S1 is 160°. Each numerical value explained with reference to FIG. 15 above can be changed to other values as appropriate. For example, θ1 may be a value other than 45°. For example, α1 may be a value other than 160°. For example, the distance r1 may be a value other than 10 m. Further, the center of the transmission range S1 may be the center of the horizontal range of the transmission wave.

FIG. 16 shows the detection range S2 of the sensor 5 when performing free space detection (FSD). The sensor 5 is arranged at the right rear end of the moving body 100. The arrangement position of the sensor 5 is not limited to the right rear end of the moving body 100, but may be placed at the left rear end or any other arbitrary position. Furthermore, the number of sensors 5 may also be any number greater than or equal to one. In FIG. 16, the horizontal axis passing through the sensor 5 is defined as the Y-axis in a direction substantially parallel to the traveling direction when the moving body 100 moves straight. Further, the angle counterclockwise from the Y axis is defined as the outward angle. The direction substantially parallel to the traveling direction when the moving body 100 moves straight may be, for example, a direction substantially parallel to the side surface of the vehicle body of the moving body 100.

In the case of free space detection (FSD) in FIG. 16, the range S2 of the transmission wave of the sensor 5 is Y of the axis C passing through the center of the transmission range S2 when the sensor 5 on which the transmitting antenna is mounted is viewed from vertically above. The angle θ2 from the axis may be 95° in an outward direction from the Y-axis. Further, in the case of free space detection (FSD) in FIG. 16, the range S2 of the transmitted wave from the sensor 5 may be a range where the distance r2 from the sensor 5 is 15 m or less at maximum. Further, the angular range α2 of the transmission range S2 is 20°. Each numerical value explained with reference to FIG. 16 above can be changed to other values as appropriate. For example, θ2 may be a value other than 95°. For example, α2 may be a value other than 20°. For example, the distance r2 may be a value other than 15 m. Further, the center of the transmission range S2 may be the center of the horizontal range of the transmission wave.

FIG. 17 shows the detection range S3 of the sensor 5 when blind spot detection (BSD) is performed. The sensor 5 is arranged at the right rear end of the moving body 100. The arrangement position of the sensor 5 is not limited to the right rear end of the moving body 100, but may be placed at the left rear end or any other arbitrary position. Furthermore, the number of sensors 5 may also be any number greater than or equal to one. In FIG. 17, a horizontal axis that is substantially parallel to the traveling direction when the moving body 100 moves straight and passes through the sensor 5 is defined as the Y axis. Further, the angle counterclockwise from the Y axis is defined as the outward angle. The direction substantially parallel to the traveling direction when the moving body 100 moves straight may be, for example, a direction substantially parallel to the side surface of the vehicle body of the moving body 100.

In the case of blind spot detection (BSD) in FIG. 17, the transmission wave range S3 of the sensor 5 is the Y-axis of the axis C passing through the center of the transmission range S3 when the sensor 5 on which the transmission antenna is mounted is viewed from vertically above. The angle θ3 from the Y axis may be 30° in the outward direction from the Y axis. Further, in the case of blind spot detection (BSD) in FIG. 17, the range S3 of the transmitted wave of the sensor 5 may be a range where the distance r3 from the sensor 5 is 100 m or less at maximum. Further, the angular range α3 of the transmission range S3 is 50°. Each numerical value explained with reference to FIG. 17 above can be changed to other values as appropriate. For example, θ3 may be a value other than 30°. For example, α3 may be a value other than 50°. For example, the distance r3 may be a value other than 100 m. Further, the center of the transmission range S3 may be the center of the horizontal range of the transmission wave.

FIG. 18 shows the detection range S4 of the sensor 5 when rear cross-traffic alert (Rear-CTA) is performed. The sensor 5 is arranged at the right rear end of the moving body 100. The arrangement position of the sensor 5 is not limited to the right rear end of the moving body 100, but may be placed at the left rear end or any other arbitrary position. Furthermore, the number of sensors 5 may also be any number greater than or equal to one. In FIG. 18, the Y axis is a horizontal axis that is substantially parallel to the direction in which the moving body 100 moves straight and passes through the sensor 5. Further, the angle counterclockwise from the Y axis is defined as the outward angle. The direction substantially parallel to the traveling direction when the moving body 100 moves straight may be, for example, a direction substantially parallel to the side surface of the vehicle body of the moving body 100.

In the case of rear cross-traffic alert (Rear-CTA) in FIG. 18, the range S4 of the transmission wave of the sensor 5 passes through the center of the transmission range S4 when the sensor 5 on which the transmitting antenna is mounted is viewed from vertically above. The angle θ4 of axis C from the Y-axis may be 70° in an outward direction from the Y-axis. Further, in the case of rear cross-traffic alert (Rear-CTA) in FIG. 18, the range S4 of the transmitted wave from the sensor 5 may be a range in which the distance r4 from the sensor 5 is 100 m or less at maximum. Further, the angular range α4 of the transmission range S4 is 50°. Each numerical value explained with reference to FIG. 18 above can be changed to other values as appropriate. For example, θ4 may be a value other than 70°. For example, α4 may be a value other than 50°. For example, the distance r4 may be a value other than 100 m. The center of the transmission range S4 may be the center of the horizontal range of the transmission wave.

In the examples shown in FIG. 15, FIG. 16, FIG. 17, and FIG. The traveling direction of the moving object 100 may be other than the forward direction of the moving body 100. In other words, the moving direction of the moving body 100 can be arbitrary directions such as the front of the moving body 100, the rear of the moving body 100, the right rear, the left rear, the right front, and the left front.

In the case of parking assistance (PA) in FIG. 15, for example, in the transmission range S1, the angle θ1 of the axis C from the Y axis is 45° outward from the Y axis, and the distance r1 is a range of 10 m or less at maximum. , and the angular range α1 is 160°. By setting each numerical value to such a value, for example, when the mobile object 100 is parked in a garage or parallel parking, or when it starts from a parked state, it is possible to monitor people, cars, etc. The detection target can be detected appropriately.

In the case of free space detection (FSD) in FIG. 16, for example, the angle θ2 of the axis C from the Y axis in the transmission range S2 is 95° outward from the Y axis, and the distance r2 is 15 m or less at maximum. range, and the angular range α2 is 20°. By setting each numerical value to such a value, for example, it is possible to detect the driving range around the mobile object 100 and the range in which the mobile object 100 can park, and to appropriately detect people, cars, and other detection targets in this range. can be detected.

In the case of blind spot detection (BSD) in FIG. 17, for example, in the transmission range S3, the angle θ3 of the axis C from the Y axis is 30° outward from the Y axis, and the distance r3 is a range of 100 m or less at maximum. and the angular range α3 is 50°. By setting each numerical value to such a value, for example, a person, a car, or other detection target on the rear side of the mobile body 100, which may be a blind spot for the driver of the mobile body 100, can be appropriately detected.

Further, in the case of the rear cross-traffic alert (Rear-CTA) in FIG. 18, for example, the angle θ4 of the axis C from the Y-axis in the transmission range S4 is 70° outward from the Y-axis, and the distance r4 is The maximum range is 100 m or less, and the angular range α4 is 50°. By setting each numerical value to such a numerical value, for example, when the moving object 100 moves from a parking lot or the like, it is possible to appropriately detect people, cars, or other detection targets on the left and right rear sides.

The control unit 10 of the electronic device 1 of the present disclosure determines at least one of the ranges in which an object is detected by the transmitted signal and the received signal for each frame of the transmitted wave, subframe of the transmitted wave, chirp signal, or any combination thereof. can be appropriately selected from the above ranges S1, S2, S3, and S4. Thereby, the control unit 10 of the electronic device 1 of the present disclosure can flexibly perform detection according to a plurality of purposes, uses, and/or functions at high speed. Further, the control unit 10 of the electronic device 1 of the present disclosure determines the range in which objects are detected by the transmitted signal and the received signal for each frame of the transmitted wave, subframe of the transmitted wave, chirp signal, or any combination thereof. Ranges other than the above ranges S1, S2, S3, and S4 may be arbitrarily selected and used in combination. That is, the electronic device 1 of the present disclosure can implement multiple functions using the millimeter wave radar.

The control unit 10 of the electronic device 1 according to each embodiment of the present disclosure appropriately selects at least one of the plurality of ranges in which an object is detected by the transmitted signal and the received signal from the ranges S1, S2, S3, or S4. You may do so. In the above description, the Y-axis is a horizontal axis passing through the sensor 5, but the Y-axis may be a horizontal axis passing through any position within the sensor 5, or the Y-axis may be a horizontal axis passing through any position within the sensor 5. It may also be a horizontal axis passing approximately through the center of the arrangement position.

In this case, the approximate center of the arrangement position of the transmitting antenna of the sensor 5 may be the center of the position of the plurality of antennas in the horizontal direction when the plurality of antennas are arranged in the horizontal direction. The approximate center of the arrangement position of the transmitting antenna of the sensor 5 may be the center of the position of the plurality of antennas in the vertical direction when the plurality of antennas are arranged in the vertical direction. The approximate center of the arrangement position of the transmitting antenna of the sensor 5 is the center of the position of the plurality of antennas in the horizontal direction and the center of the position in the vertical direction, when the plurality of antennas are arranged in the horizontal and vertical directions. It's good if there is. The approximate center of the arrangement position of the transmitting antenna of the sensor 5 is the center of the position of the plurality of antennas in the horizontal direction or the center of the position in the vertical direction, when the plurality of antennas are arranged in the horizontal and vertical directions. It's good if there is.

In the present disclosure, the range of the transmitted wave is within the maximum distance R [m] from the sensor 5 means that the maximum range of the object that the sensor 5 can detect is the maximum distance R [m] from the sensor 5. It may be taken to mean that. The transmission wave may be transmitted further away than R[m]. This R[m] is determined by the output intensity of the transmitted wave, the scattering cross section of the object, the size of the object, the material of the object, the frequency of the transmitted wave, the transmission environment of the transmitted wave such as humidity and temperature, and the transmitting antenna. It may be determined by selectively using the gain, the gain of the receiving antenna, the SN ratio required for the received signal, etc.

The control unit 10 of the electronic device 1 according to each embodiment of the present disclosure determines the range in which an object is detected by the transmitted signal and the received signal for each frame of the transmitted wave, subframe of the transmitted wave, chirp signal, or any combination thereof. At least one of these may be appropriately selected from the above ranges S1, S2, S3, or S4.

Although the present disclosure has been described based on the drawings and examples, it should be noted that those skilled in the art will be able to easily make various changes or modifications based on the present disclosure. It should therefore be noted that these variations or modifications are included within the scope of this disclosure. For example, functions included in each functional section can be rearranged so as not to be logically contradictory. A plurality of functional units etc. may be combined into one or may be divided. Each embodiment according to the present disclosure described above is not limited to being implemented faithfully to each described embodiment, but may be implemented by combining each feature or omitting a part as appropriate. . In other words, those skilled in the art can make various changes and modifications to the content of the present disclosure based on the present disclosure. Accordingly, these variations and modifications are included within the scope of this disclosure. For example, in each embodiment, each functional unit, each means, each step, etc. may be added to other embodiments so as not to be logically contradictory, or each functional unit, each means, each step, etc. of other embodiments may be added to other embodiments to avoid logical contradiction. It is possible to replace it with Further, in each embodiment, it is possible to combine or divide a plurality of functional units, means, steps, etc. into one. Further, each embodiment of the present disclosure described above is not limited to being implemented faithfully to each described embodiment, but may be implemented by combining each feature or omitting a part as appropriate. You can also do that.

For example, in the embodiment described above, a mode has been described in which the object detection range is dynamically switched using one sensor 5. However, in one embodiment, a plurality of sensors 5 may perform object detection in the determined object detection range. Further, in one embodiment, beam forming may be performed by a plurality of sensors 5 toward the determined object detection range.

The embodiment described above is not limited to implementation as the electronic device 1. For example, the embodiment described above may be implemented as a method of controlling a device such as the electronic device 1. Furthermore, for example, the embodiment described above may be implemented as a control program for a device such as the electronic device 1.

The electronic device 1 according to one embodiment may include, for example, at least a portion of only the sensor 5 or the control unit 10 as a minimum configuration. On the other hand, in addition to the control unit 10, the electronic device 1 according to one embodiment includes at least one of a signal generation unit 21, a synthesizer 22, a phase control unit 23, an amplifier 24, and a transmission antenna 25 as shown in FIG. The configuration may include the following as appropriate. Moreover, the electronic device 1 according to one embodiment includes at least one of the receiving antenna 31, the LNA 32, the mixer 33, the IF section 34, and the AD converter 35 in place of or together with the above-mentioned functional section. It may be configured by including it as appropriate. Furthermore, the electronic device 1 according to one embodiment may include a storage section 40. In this way, the electronic device 1 according to one embodiment can take various configurations. Further, when the electronic device 1 according to the embodiment is mounted on the mobile body 100, for example, at least one of the above-mentioned functional units may be installed at an appropriate location such as inside the mobile body 100. On the other hand, in one embodiment, for example, at least one of the transmitting antenna 25 and the receiving antenna 31 may be installed outside the mobile body 100.

In the embodiment described above, a case was described in which the functions of different types of radars were set (assigned) to each frame of the transmission wave T, etc., with reference to FIGS. 8 to 10. It is not limited to the case. For example, the control unit 10 converts any one of the plurality of ranges in which an object is detected by the transmitted signal and the received signal into a frame, a part of the frame (for example, a subframe), a chirp signal, or an arbitrary combination of these. It may be set based on.

1 Electronic equipment 5 Sensor 10 Control unit 11 Distance FFT processing unit 12 Velocity FFT processing unit 13 Angle of arrival estimation unit 14 Object detection unit 15 Detection range determination unit 16 Parameter setting unit 20 Transmission unit 21 Signal generation unit 22 Synthesizer 23 Phase control unit 24 Amplifier 25 Transmitting antenna 30 Receiving section 31 Receiving antenna 32 LNA
33 Mixer 34 IF section 35 AD conversion section 40 Storage section 50 ECU
100 moving object 200 object

Claims (4)

a plurality of first transmitting antennas arranged in a horizontal direction;
a plurality of second transmitting antennas arranged in a direction other than the horizontal direction with respect to the horizontal direction in which the first transmitting antenna is arranged;
For each frame of a transmission wave transmitted from at least one of the first transmission antenna and the second transmission antenna, a portion constituting the frame, and a chirp signal included in the transmission wave, a control unit that sets a value of frequency change with respect to time of the chirp signal and sets a direction of beamforming of the transmitted wave in the direction of a previously measured object detection range;
Electronic equipment equipped with At least one of the intervals between the first transmitting antennas, between the second transmitting antennas, and between the first transmitting antenna and the second transmitting antenna is 1, where the wavelength of the transmitting wave is λ. /2λ. The electronic device according to claim 1. a plurality of first transmitting antennas arranged in a horizontal direction;
a plurality of second transmitting antennas arranged in a direction other than the horizontal direction with respect to the horizontal direction in which the first transmitting antenna is arranged;
A method for controlling an electronic device comprising:
For each frame of a transmission wave transmitted from at least one of the first transmission antenna and the second transmission antenna, a portion constituting the frame, and at least one of a chirp signal included in the transmission wave, setting a value of frequency change with respect to time of the chirp signal;
setting the beamforming direction of the transmitted wave in the direction of an object detection range measured in the past;
Control methods for electronic devices, including: a plurality of first transmitting antennas arranged in a horizontal direction;
a plurality of second transmitting antennas arranged in a direction other than the horizontal direction with respect to the horizontal direction in which the first transmitting antenna is arranged;
A control program for an electronic device, comprising:
to the computer,
For each frame of a transmission wave transmitted from at least one of the first transmission antenna and the second transmission antenna, a portion constituting the frame, and a chirp signal included in the transmission wave, setting a value of frequency change with respect to time of the chirp signal;
setting the beamforming direction of the transmitted wave in the direction of an object detection range measured in the past;
A control program for electronic equipment that executes.

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